DocumentCode
488012
Title
A Simplified Lyapunov-Based Controller for a Robot Manipulator
Author
Dawson, D.M. ; Lewis, F.L. ; Abdallah, C.A.
Author_Institution
School of Electrical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, 404-894-2994
fYear
1989
fDate
21-23 June 1989
Firstpage
2337
Lastpage
2339
Abstract
This paper derives a controller with simplified structure to achieve trajectory following for a robot manipulator. Lyapunov´s second method is used for the design. Bounds on the position error and the velocity error are given, and a computer simulation is provided to verify that the error bounds are correct.
Keywords
Computer errors; Computer simulation; Control systems; Error correction; Friction; Gravity; Manipulators; Nonlinear control systems; Robot control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1989
Conference_Location
Pittsburgh, PA, USA
Type
conf
Filename
4790579
Link To Document