Title :
Global stability analysis for some trajectory-tracking control schemes of robotic manipulators
Author :
Chen, Qijun ; Chen, Huitang ; Wang, Yuejuan ; Woo, Pengyung
Author_Institution :
Dept. of Electr. Eng., Tongji Univ., Shanghai, China
Abstract :
With a same Lyapunov function defined, the stability, robustness and convergence speed of three widely used trajectory-tracking control schemes, i.e., the PD control, the PD control with a feedforward compensation and the PD control with a calculated feedforward compensation, are presented. All the three control schemes are globally and exponentially convergent. The trajectory-tracking features of the three control schemes are theoretically analyzed and compared. Suggestions are given for the choices of the control parameters
Keywords :
Lyapunov methods; compensation; feedforward; manipulator dynamics; stability; tracking; two-term control; Lyapunov function; PD control; compensation; feedforward; robotic manipulators; robustness; stability; trajectory-tracking; Gravity; Lyapunov method; Manipulator dynamics; PD control; Robot control; Robust stability; Service robots; Stability analysis; Symmetric matrices; Trajectory;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.879185
