P·SPR·D control for affine nonlinear system and robot manipulators -Stability analysis based on K-Y-P property and LaSalle’s invariance principle-

Author

Shimizu, Kiyotaka

Author_Institution

Fac. of Syst. Design Eng., Keio Univ., Japan

fYear

2008

fDate

9-11 Dec. 2008

Firstpage

4332

Lastpage

4338

Abstract

This paper is concerned with PÂ·SPRÂ·D control of affine nonlinear system and robot manipulators which are passive systems. PÂ·SPRÂ·D control consists of proportional(P) action + strict positive real(SPR) action + derivative(D) action. Such control can asymptotically stabilize the affine nonlinear system being of multi input and multi output. Stability analysis of the PÂ·SPRÂ·D control is made, based on the passivity theory and LaSalleÂ¿s invariance principle. The L₂-gain disturbance attenuation problem is also investigated. Further a set-point servo problem (set-point tracking control) for the robot manipulator is also solved by the PÂ·SPRÂ·D control. The effectiveness of the proposed method is demonstrated by the simulation results for a two-link manipulator.

Keywords

PD control; asymptotic stability; invariance; manipulators; nonlinear control systems; L₂-gain disturbance attenuation problem; PÂ·SPRÂ·D control; affine nonlinear system; asymptotic stability; invariance principle; passive systems; passivity theory; robot manipulators; set-point servo problem; set-point tracking control; stability analysis; Attenuation; Control systems; Manipulators; Nonlinear control systems; Nonlinear systems; PD control; Proportional control; Robots; Servomechanisms; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Conference_Location

Cancun

ISSN

0191-2216

Print_ISBN

978-1-4244-3123-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2008.4738613

Filename

4738613