Abstract :
An alternative analysis that does not invoke the LaSalle invariance principle of the PD proportional-differential controller with gravity compensation for robots, presented in the above-titled paper by P. Tomei (ibid., vol.7, no.4, p.565-70, Aug. 1991) is established. The result is used to develop straightforwardly a new PD controller with adaptive gravity compensation, and conditions to ensure closed-loop stability and global zero position error convergence are given.<>
Keywords :
adaptive control; invariance; robots; stability; two-term control; LaSalle invariance principle; PD controller; adaptive control; closed-loop stability; global zero position error convergence; gravity compensation; manipulators; robot; Adaptive control; Convergence; Error correction; Gravity; Manipulators; PD control; Programmable control; Proportional control; Robot control; Stability;
