A class of nonlinear PD-type controllers for robot manipulators

In this note we consider tracking control of rigid robot systems under input constraints. Using the combination of two controllers we are able to obtain globally asymptotically stable closed-loop error-dynamics while keeping the applied actuator torques within in advance specified bounds. This idea is also exploited successfully in case only position measurements are available, or when parameter uncertainties call for an adaptive control scheme.

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“…In particular, for position control a bounded controller was developed in [4], see also [3] for an alternative bounded PD-like controller.…”

Section: Introductionsupporting

confidence: 75%

Globally bounded tracking controllers for rigid robot systems

Lefeber

Nijmeijer

1997

1997 European Control Conference (ECC)

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“…with η > 0 the adaptive rate, then controllers (6), (29) can ensure that the tracking error of robot system asymptotically converges to zero.…”

Section: Theorem 2 Consider the Error Equation (8) For The Robot Manmentioning

confidence: 99%

“…However, robotic manipulators have to face many uncertainties in their dynamics, such as payload parameter, friction, and disturbance. Yet, the work using PDplus-feedforward on robust control of robot [1][2][3][4][5][6] shows great attraction to researches. In [1], a PD-plus-feedforward controller is firstly proposed for robot manipulators which guarantees exponential convergence.…”

Section: Introductionmentioning

confidence: 99%

“…Wen [5] treats the analysis of a robot controller based on energy-like Lyapunov function, which leads to a new class of global stability control design, but is still a high-gain method. Kelly [6] designs a class of PD-plus-feedforward controller on the assumption that parameters are precisely known, nevertheless obtaining local but not global stability results. Unfortunately, all above works do not consider the external disturbances and unmodeled dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

Zuo

Wang

Huang

et al. 2008

Journal of Control Science and Engineering

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We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

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“…In [12], the global asymptotic stability of a class of nonlinear PD-type controllers for position and motion control of robot manipulators is analyzed, and a global regulator constrained to deliver torques within prescribed limits of the actuator's capabilities is proposed. However, it has been shown that although the PD controller is robust with respect to uncertainties on inertial parameters and the global asymptotic stability is guaranteed, uncertainties on the gravity parameters may lead to undesired steady state errors [13].…”

Section: Introductionmentioning

confidence: 99%

Novel Adaptive PID Control of Flexible Joint Robot Manipulator withBounded Disturbances

Doghiem¹

2014

IOSRJEN

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-A novel robust adaptive PID control scheme is proposed with known upper bound of the external disturbances, to solve the dynamic coupling and strong nonlinearity problems in flexible joint robot manipulator control. Invoking the proposed controller, the bounded external disturbances can be compensated and the global asymptotical stability with respect to the manipulator positions and velocities is able to be guaranteed. The designed control law can enlarge the tolerable external disturbances, enhance the accuracy of trajectory tracking error, and improve the dynamic performance of the manipulator systems. The stability and convergence properties of the closed-loop system are analytically proved using Lyapunov stability theory and Barbalat's lemma. Simulation for the proposed control system is performed for a two-degree of freedom flexible joint robot, each joint modeled by two-equations of second order to illustrate its viability, and advantages.

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A class of nonlinear PD-type controllers for robot manipulators

Cited by 81 publications

References 9 publications

Globally bounded tracking controllers for rigid robot systems

Globally bounded tracking controllers for rigid robot systems

Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

Novel Adaptive PID Control of Flexible Joint Robot Manipulator withBounded Disturbances

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