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

Robotica

Volumn 28, Issue 1, 2010, Pages 23-34

  Nunes, Eduardo V L ^a   Hsu, Liu ^a  

^a FEDERAL UNIVERSITY OF RIO DE JANEIRO   (Brazil)

Author keywords

Global tracking; Input to state stability; Output feedback; PD control; Robot manipulators

Indexed keywords

BOUNDED INPUT; ERROR SYSTEMS; FEED-FORWARD; FEED-FORWARD COMPENSATION; GLOBAL TRACKING; INPUT TO STATE STABLE; INPUT-TO-STATE STABILITY; NATURAL DAMPING; OUTPUT FEEDBACK; PD CONTROL; PD CONTROLLERS; ROBOT MANIPULATOR; UNIFORMLY GLOBALLY ASYMPTOTICALLY STABLES;

CONTROL SYSTEM ANALYSIS; CONTROLLERS; ERROR COMPENSATION; FEEDBACK; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; NONLINEAR SYSTEMS; ROBOT APPLICATIONS; SYSTEM STABILITY;

STATE FEEDBACK;

EID: 77949773627     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574709005529     Document Type: Article

References (34)

1. A. Ailon and R. Ortega, "An observer-based controller for robot manipulators with flexible joints," Syst. Control Lett. 21, 329-335 (1993).
2. H. Berghuis and H. Nijmeijer, "Global regulation of robots using only positionmeasurements," Syst.Control Lett. 21, 289-293 (1993).
3. R. Kelly, "A Simple Set-Point Robot Controller by Using only Position Measurements," Preprint 12th IFAC World Congress, Sydney, vol.6 (1993) pp. 173-176.
4. R. Ortega, A. Loria, P. J. Nicklasson and H. Sira- Ramirez, Passivity-Based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications (Springer-Verlag, London, UK, 1998).
5. I. Burkov, "Mechanical System Stabilization via Differential Observer," Proceedings of IFAC Conference System Structure Control, Nantes, France (1995) pp. 532-535.
6. A. Loria, "Global tracking control of one degree of freedom Euler-Lagrange systems without velocity measurements," Eur. J. Control 2, 144-151 (Jun. 1996).
7. F. Zhang, D. M. Dawson, M. S. de Queiroz and W. E. Dixon, "Global adaptive output feedback tracking control of robot manipulators," IEEE Trans. Automat. Control 45(6), 1203-1208 (2000).
8. N. Sadegh and R. Horowitz, "Stability and robustness analysis of a class of adaptive controllers for robotic manipulators," Int. J. Rob. Res. 9(3), 74-92 (1990).
9. A. Loria and K. Melhem, "Position feedback global tracking control of EL systems: A state transformation approach," IEEE Trans. Automat. Control 47(5), 841-847 (2002).
10. G. Besançon, S. Battilotti and L. Lanari, "A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models," Automatica 39, 1085-1093 (2003).
11. W. E. Dixon, E. Zergeroglu and D. M. Dawson, "Global robust output feedback tracking control of robot manipulators," Robotica 22, 351-357 (2004).
12. V. Santibãnez and R. Kelly, "Global Asymptotic Stability of Bounded Output Feedback Tracking Control for Robot Manipulators," Proceedings of IEEE Conference of Decision and Control, Orlando, FL (2001) pp. 1378-1379.
13. J. Moreno and S. Gonzalez, "An Adaptive Output Feedback Tracking Controller for Manipulators Subject to Constrained Torques," Proceedings of IEEE Conference of Decision and Control, San Diego, CA (2006) pp. 2026-2031.
14. E. Sontag, "Smooth stabilization implies coprime factorization," IEEE Trans. Automat. Control 34(4), 435-443 (1989).
15. Z. P. Jiang and M. Y. Mareels, "A small-gain control method for nonlinear cascade systems with dynamic uncertainties," IEEE Trans. Automat. Control 42(3), 292-308 (1997).
16. H. Khalil, Nonlinear Systems, 3rd ed. (Prentice Hall, New Jersey, USA, 2002).
17. Z. P. Jiang, M. Y. Mareels and Y. Wang, "A lyapunov formulation of the nonlinear small-gain theorem for interconnected ISS systems," Automatica 32(8), 1211-1215 (1996).
18. E. Sontag and Y. Wang, "On characterizations of the inputto- state stability property," Syst. Control Lett. 24(5), 351-359 (1995).
19. L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulator (Springer-Verlag, London, UK, 2000).
20. V. Santibãnez and R. Kelly, "PD control with feedforward compensation for robot manipulators: analysis and experimentation," Robotica 19, 11-19 (2001).
21. D. Angeli, "Input-output-to-state stability of pd-controlled robotic systems," Automatica 35, 1285-1290 (1999).
22. D. Koditscheck, "Application of a New Lyapunov Function to Global Adaptive Attitude Tracking," Proceedings of IEEE Conference on Decision and Control, Austin, TX (1988).
23. P. Tomei, "Adaptive PD controller for robot manipulators," IEEE Trans. Rob. Automat. 7(4), 565-570 (1991).
24. R. Kelly, "Comments on 'adaptive PD controller for robot maqipulators'," IEEE Trans. Rob. Automat. 9(1), 117-119 (1993).
25. S. Arimoto, "Fundamental problems of robot control. Part I. Innovations in the realm of robot servo-loops," Robotica 13, 19-27 (1995).
26. S. Arimoto, "Fundamental problems of robot control. Part II.A nonlinear circuit theory towards an understanding of dexterous motions," Robotica 13, 111-122 (1995).
27. Z. P. Jiang, A. R. Teel and L. Praly, "Small-gain theorem for ISS systems and applications," Math. Control Signals Syst. 7, 95-120 (1994).
28. F. Reyes and R. Kelly, "Experimental evaluation of identification schemes on a direct drive robot," Robotica 15, 563-571 (1997).
29. T. I. Fossen, Guidance and Control of Ocean Vehicles (John Wiley, Chichester, UK, 1994).
30. O. Aamo, M. Arcak, T.-I. Fossen and P. Kokotovíc, "Global output tracking control of a class of Euler-Lagrange systems with monotonic nonlinearities in the velocities," Int. J. Control 74(7), 649-658 (2001).
31. E. V. L. Nunes, L. Hsu and F. Lizarralde, "Output-Feedback Sliding Mode Control for Global Asymptotic Tracking of Uncertain Systems Using Locally Exact Differentiators," Proceedings of American Control Conference, Minneapolis, MN (2006) pp. 5407-5412.
32. T. R. Oliveira, A. J. Peixoto, E. V. L. Nunes and L. Hsu, "Control of uncertain nonlinear systems with arbitrary relative degree and unknown control direction using sliding modes," Int. J. Adaptive Control Signal Processing 21(8/9), 692-707 (2007).
33. E. V. L. Nunes, L. Hsu and F. Lizarralde, "Global Output Feedback Tracking Controller Based on Hybrid Estimation for a Class of Uncertain Nonlinear Systems," Proceedings of 10th International Workshop on Variable Structure Systems, Antalya, Turkey (2008) pp. 141-146.
34. R. Abraham, J. E. Marsden and T. Ratiu, Manifolds, Tensor Analysis, and Applications, 2nd ed., Applied Mathematical Sciences, vol.75 (Springer-Verlag, New York, USA, 1988).