| Title:
|
A family of hyperbolic-type control schemes for robot manipulators (English) |
| Author:
|
Reyes-Cortes, Fernando |
| Author:
|
Felix-Beltran, Olga |
| Author:
|
Cid-Monjaraz, Jaime |
| Author:
|
Alonso-Aruffo, Gweni |
| Language:
|
English |
| Journal:
|
Kybernetika |
| ISSN:
|
0023-5954 (print) |
| ISSN:
|
1805-949X (online) |
| Volume:
|
55 |
| Issue:
|
3 |
| Year:
|
2019 |
| Pages:
|
561-585 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
This paper deals with the global position control problem of robot manipulators in joint space, a new family of control schemes consisting of a suitable combination of hyperbolic functions is presented. The proposed control family includes a large class of bounded hyperbolic-type control schemes to drive both position error and derivative action terms plus gravity compensation. To ensure global asymptotic stability of closed-loop system equilibrium point, we propose an energy-shaping based strict Lyapunov function. To verify the efficiency of the proposed control algorithm, an experimental comparative analysis between the well known unbounded linear PD control and three hyperbolic-type control schemes of the proposed family on a three degrees of freedom direct-drive robot manipulator is analysed. (English) |
| Keyword:
|
Lyapunov stability |
| Keyword:
|
control |
| Keyword:
|
robot-manipulator |
| Keyword:
|
regulation |
| MSC:
|
68T40 |
| MSC:
|
93C85 |
| MSC:
|
93D05 |
| idZBL:
|
Zbl 07144954 |
| idMR:
|
MR4015999 |
| DOI:
|
10.14736/kyb-2019-3-0561 |
| . |
| Date available:
|
2019-11-14T08:42:37Z |
| Last updated:
|
2020-04-02 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/147867 |
| . |
| Reference:
|
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| . |
