Guaranteed rates of convergence of a class of PD controllers for trajectory tracking problems of robotic manipulators with dynamic uncertainties

IEE Proceedings: Control Theory and Applications

Volumn 143, Issue 2, 1996, Pages 186-190

  Wang, J ^a   Dodds, S J ^a   Bailey, W N ^a  

^a UNIVERSITY OF EAST LONDON   (United Kingdom)

Author keywords

PD controllers; Robot control; Robust control

Indexed keywords

CONTROL SYSTEM SYNTHESIS; ERRORS; LYAPUNOV METHODS; MANIPULATORS; MOTION CONTROL; PERFORMANCE; ROBOTICS; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; TRACKING (POSITION); VECTORS; VELOCITY;

ROBOT CONTROL; TRAJECTORY TRACKING;

TWO TERM CONTROL SYSTEMS;

EID: 0030108575     PISSN: 13502379     EISSN: None     Source Type: Journal    
DOI: 10.1049/ip-cta:19960060     Document Type: Article

References (19)

1. LUH, J.Y.S., WAKER, M.W., and PAUL, R.P.C.: 'On-line computational scheme for mechanical manipulators', Trans. ASME, J. Dyn., Syst., Meas. Control, 1980, 102, pp. 69-76
2. HOLLERBACH, J.M.: 'A recursive Lagrangian formulation of manipulator dynamics and a comparative study of dynamics formulation complexity', IEEE Trans., 1980, SMC-10, pp. 730-736
3. SLOTINE, J.-J.E., and LI, W.: 'Adaptive manipulator control: a case study', IEEE Trans., 1988, AC-33, (11), pp. 995-1003
4. REED, J.S., and IOANNOU, P.A.: 'Instability analysis and robust adaptive control of robotic manipulators', IEEE Trans. Robotics and Automation, 1989, 5, (3), pp. 381
5. COLBAUGH, R., SERAJI, H., and GLASS, K.: 'Direct adaptive impedance control of robot manipulators', J. Robotic Syst., 1993, 10, (2), pp. 217-248
6. COLBAUGH, R., SERAJI, H., and GLASS, K.: 'Decentralised adaptive control of manipulators', J. Robotic Syst., 1994, 11, (5), pp. 425-440
7. COLBAUGH, R., GLASS, K., and SERAJI, H.: 'Decentralised adaptive tracking control of robot manipulators', Proceedings of international symposium on Robot control, Capri, Italy, 1994, Vol. 1, pp. 115-120
8. UTKIN, V.I.: 'Sliding modes and their applications in variable structure systems' (MIR, Moscow, 1978)
9. CHEN, Y.F., MITA, T., and WAHUI, S.: 'A new and simple algorithm for sliding mode control of robot arm', IEEE Trans., 1990, AC-35, (7), pp. 828-829
10. SLOTINE, J.-J.E., and COETSEE, J.A.: 'Adaptive sliding mode controller synthesis for non-linear systems', Int. J. Control, 1986, 43, pp. 1631-1651
11. WANG, J., BAILEY, W.N., and DODDS, S.J.: 'A new sliding mode approach to the robust control of robotic manipulators with dynamic uncertainties', Proceedings of IEEE international conference on Robotics and automation, San Diego, USA, 1994, Vol. 3, pp. 2100-2105
12. TAKEGAKI, M., and ARIMOTO, S.: 'A new feedback method for dynamic control of manipulators', Trans. ASME, J. Dyn., Syst., Meas. Control, 1981, 103, pp. 119-125
13. ARIMOTO, S.: 'Fundamental problems of robot control, Part I: Innovations in the realm of robot servo-loops, Part II: A non-linear circuit theory towards an understanding of dextrous motions', Robotica, 1994, 12, pp. 1-21
14. DAWSON, D.M., QU, Z., LEWIS, F.L., and DORSEY, J.F.: 'Robust control for the tracking of robot motion', Int. J. Control, 1990, 52, (3), pp. 581-595
15. WEN, J., and KREUTZ-DELGADO, K.: 'Motion and force control of multiple robotic manipulators', Automatica, 1992, 28, (4), pp. 729-743
16. SERAJI, H.: 'Configuration control of redundant manipulators', IEEE Trans. Robot. Autom., 1989, 5, (4), pp. 472-490
17. CORLESS, M.: 'Guaranteed rate of exponential convergence for uncertain systems', J. Optim. Theory Appl., 1990, 64, (3), pp. 181-194
18. LOZANO, R., and BROGLIATO, B.: 'Adaptive hybrid force-position control for redundant manipulators', IEEE Trans., 1992, AC-37, (10), pp. 1501-1505
19. WEN, J., KREUTZ-DELGADO, K., and BAYARD, D.: 'Lyapunov function-based control laws for revolute robot arms: tracking control, robustness, and adaptive control', IEEE Trans., 1992, AC-37, (2), pp. 231-237