On the global uniform ultimate boundedness of a DCAL-like robot controller

Author

Dawson, D.M. ; Qu, Z.

Author_Institution

Sch. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

8

Issue

3

fYear

1992

fDate

6/1/1992 12:00:00 AM

Firstpage

409

Lastpage

413

Abstract

The authors illustrate how the nonadaptive part of the desired compensation adaptive law (DCAL) is a special case of a class of controllers that can be used to obtain a global stability result for the trajectory following problem for robot manipulators. This class of robot controllers is a simple linear proportional derivative (PD) controller plus additional nonlinear terms that are used to compensate for uncertain nonlinear dynamics. To analyze the stability of this class of controllers, Lyapunov´s second method is used to derive a global uniform ultimate boundedness (GUUB) stability result for the tracking error. How the controller gains can be adjusted to obtain better tracking performance in spite of the uncertainty present in the robot manipulator dynamic equation is shown

Keywords

Lyapunov methods; adaptive control; compensation; dynamics; robots; stability; two-term control; Lyapunov´s second method; desired compensation adaptive law; global stability; global uniform ultimate boundedness; linear PD controller; manipulators; robot controller; tracking error; trajectory following; uncertain nonlinear dynamics; Adaptive control; Error correction; Manipulator dynamics; PD control; Performance gain; Programmable control; Proportional control; Robot control; Stability analysis; Uncertainty;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.143359

Filename

143359