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
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;
Conference_Titel :
American Control Conference, 1989
Conference_Location :
Pittsburgh, PA, USA
