PD control with feedforward compensation for robot manipulators: analysis and experimentation

Abstract

One of the simplest and natural appealing motion control strategies for robot manipulators is the PD control with feedforward compensation. Although successful experimental tests of this control scheme have been published since the beginning of the eighties, the proof of global asymptotic stability has remained unattended until now. The contribution of this paper is to prove that global asymptotic stability can be guaranteed provided that the proportional and derivative gains are adequately selected. The performance of the PD control with feedforward compensation evaluated on a two degrees-of-freedom direct-drive arm appears as fine as the classical model-based computed torque control scheme.

Servo-fluid-elastic modeling of contactless levitated adaptive secondary mirrors

“…The newly proposed control scheme represents an improved and specialized version of the well known PD control with feedforward dynamic cancellation [1,20], where the simpler control Eq. 33 is modified to improve the dynamic response and to increase the overall robustness of the controller.…”

Global tracking for robot manipulators using a simple causal PD controller plus feedforward

“…We consider the dynamic model of a real two degrees-of-freedom direct-drive robot arm with revolute joints given by 20,28 M(q) = 2.35+0.17 cos(q 2 ) 0.10+0.08 cos(q 2 ) 0.10+0.08 cos(q 2 ) 0 .10 , C(q,q) = −0.17 sin(q 2 )q 2 −0.08 sin(q 2 )q 2 0.08 sin(q 2 )q 1 0 ,…”

On equivalence between internal and external model‐based repetitive learning controllers for nonlinear passive systems

“…In accordance with Assumption 1 (Section 2.1) the error systemė = f (e, t), where f (e, t) ∈ R 2n is defined by (60), is globally asymptotically stable if the set of inequality constraints on controller gains K P and K D , derived in [15,16], is satisfied.…”