Title :
Generalized PI control for global position regulation of flexible joint robot manipulators
Author :
Hernández, Victor M. ; Sira-Ramírez, Hebertt
Author_Institution :
Dept. de Ing. Electr., CINVESTAV-IPN, Mexico City, Mexico
Abstract :
In this note we present two control schemes for flexible joint robots, which combines generalized PI (GPI), control with energy shaping-damping injection control. We introduce a velocity reconstructor to avoid measurements of this variable. In both cases, we show global asymptotic stability of the desired equilibrium point.
Keywords :
PI control; asymptotic stability; flexible manipulators; position control; energy shaping-damping injection control; equilibrium point; flexible joint robot manipulators; generalized PI; generalized proportional integral control; global asymptotic stability; global position regulation; integral reconstructors; velocity reconstructor; Asymptotic stability; Control systems; Damping; Linear systems; Manipulators; Pi control; Robot control; Shape control; Velocity control; Velocity measurement;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1242561
