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

fYear

1994

fDate

20-22 Mar 1994

Firstpage

59

Lastpage

63

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;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 1994., Proceedings of the 26th Southeastern Symposium on

Conference_Location

Athens, OH

ISSN

0094-2898

Print_ISBN

0-8186-5320-5

Type

conf

DOI

10.1109/SSST.1994.287910

Filename

287910