Title :
Piece-wise stability analysis of nonlinear robot arm via singular perturbations
Author :
Chaturvedi, P. ; Rastgoufard, P. ; Nallan, H.C.
Author_Institution :
Dept. of Electr. Eng., Tulane Univ., New Orleans, LA, USA
Abstract :
The method of singular perturbations is applied to the control and stability analysis of robot arms. A robot arm including the actuator dynamics is a typical example of a singularly perturbed system due to the actuator dynamics occurring in a much faster time scale as compared to the manipulator dynamics. A control law based on the fast and the slow control separately is proposed with the addition of weight factors. The stability of such a system after incorporating the control law is studied. A scheme is presented for the stability analysis which involves breaking the system into closely spaced equilibrium points and then studying their stability
Keywords :
actuators; manipulators; nonlinear control systems; perturbation techniques; piecewise-linear techniques; stability; actuator dynamics; closely spaced equilibrium points; control analysis; control law; fast control; nonlinear robot arm; piecewise stability analysis; singular perturbations; singularly perturbed system; slow control; weight factors; Actuators; Control systems; Control theory; Laboratories; Large-scale systems; Manipulator dynamics; Mathematical model; Nonlinear dynamical systems; Robots; Stability analysis;
Conference_Titel :
System Theory, 1994., Proceedings of the 26th Southeastern Symposium on
Conference_Location :
Athens, OH
Print_ISBN :
0-8186-5320-5
DOI :
10.1109/SSST.1994.287910
