A robust velocity field control

被引：31

作者：

Cervantes, I

Kelly, R

Alvarez-Ramirez, J

Moreno, J

机构：

[1] Inst Politecn Nacl, SEPI, ESIME Culhuacan, Mexico City 04430, DF, Mexico

[2] CICESE, Div Fis Aplicada, Ensenada 22800, Baja California, Mexico

[3] Univ Autonoma Metropolitana Iztapalapa, Div Ciencias Basicas & Ingn, Mexico City 09340, DF, Mexico

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2002年 / 10卷 / 06期

关键词：

integral control; semiglobal stability; uncertain robot dynamics; velocity field control (VFC);

D O I：

10.1109/TCST.2002.804126

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is devoted to velocity field control (VFC) of uncertain robotic manipulators. We propose a proportional-integral (PI)-type controller derived from modeling error compensation ideas and singular perturbation theory, that requires a minimum knowledge of the plant (i.e., constant estimate of the inertia matrix). It is shown that semiglobal practical stabilization is achieved; that is, given any compact set of initial velocity field errors, there exist PI control gains which guarantee that the robot tracks a desired velocity field with arbitrary accuracy. The proposed controller was experimentally evaluated on a two degrees-of-freedom arm.

引用

页码：888 / 894

页数：7

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