Based on Passivity Backstepping Control of Robotic Systems

Author

Jiang, ChunDi ; Wang, HaiLun

Author_Institution

Inst. of Inf. & Electron., West branch of Zhejiang Univ. of Technol., Quzhou, China

fYear

2010

fDate

22-23 May 2010

Firstpage

1

Lastpage

3

Abstract

This paper presents a control using the backstepping and passivity strict-feedback technique; passivity monitor can evaluate stability of a system based on the concept of passivity. Using the decouple method and matrix transforming technique, decomposing the robot system as the position subsystem and the force subsystem, and then designs the control law of these subsystems respectively, the results obtained are satisfactory by using backstepping control, the tracking error is negligible and the global stability of the system can also be obtained.

Keywords

error analysis; feedback; matrix algebra; robots; backstepping strict-feedback technique; decouple method; error tracking; force subsystem; matrix decomposing; matrix transforming technique; passivit backstepping control; passivity strict-feedback technique; position subsystem; robotic systems; Actuators; Backstepping; Control systems; Equations; Force control; Matrix decomposition; Monitoring; Paper technology; Robot control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems and Applications (ISA), 2010 2nd International Workshop on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-5872-1

Electronic_ISBN

978-1-4244-5874-5

Type

conf

DOI

10.1109/IWISA.2010.5473655

Filename

5473655