ON THE GLOBAL UNIFORM ULTIMATE BOUNDEDNESS OF A DCAL-LIKE ROBOT CONTROLLER

被引：12
|
作者：
DAWSON, DM [1 ]
QU, Z [1 ]
机构：
[1] UNIV CENT FLORIDA,DEPT ELECT ENGN,ORLANDO,FL 32816
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1992年 / 8卷 / 03期
关键词：
D O I：
10.1109/70.143359
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we illustrate how the nonadaptive part of the desired compensation adaptive law (DCAL) is a special case of a class of controllers that can be used to obtain a global stability result for the trajectory following problem for robot manipulators. This class of robot controllers is a simple linear Proportional derivative (PD) controller plus additional nonlinear terms that are used to compensate for uncertain nonlinear dynamics. To analyze the stability of this class of controllers, Lyapunov's second method is used to derive a global uniform ultimate boundedness (GUUB) stability result for the tracking error. We then illustrate how the controller gains can be adjusted to obtain better tracking performance in spite of the uncertainty present in the robot manipulator dynamic equation.
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页码：409 / 413
页数：5
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