Robust control for the tracking of robot motion. (English) Zbl 0708.93057

Summary: We examine the stability of a proportional derivative (PD) controller for the trajectory-following problem of a robot manipulator. We use Lyapunov’s second method to derive a uniform boundedness result for the PD controller. We show that if the PD controller gains are chosen greater than a specific bound and if the initial tracking error is zero, the velocity and position tracking errors are uniformly bounded. We then develop two additional controllers that use auxiliary control inputs along with the PD controller. Both of these controllers are shown to yield a uniform ultimate boundedness property for the tracking error.


93C85 Automated systems (robots, etc.) in control theory
93B35 Sensitivity (robustness)
93D05 Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory
93D30 Lyapunov and storage functions
Full Text: DOI


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