Global Asymptotic Stability of PD Control for PM Stepper Motor Servo-Systems

2011 ◽  
Vol 14 (5) ◽  
pp. 1449-1457 ◽  
Author(s):  
R. V. Carrillo-Serrano ◽  
V. M. Hernández-Guzmán ◽  
V. Santibáñez
Keyword(s):  
Asymptotic Stability ◽  
Global Asymptotic Stability ◽  
Stepper Motor ◽  
Pd Control ◽  
Servo Systems

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

Robotica ◽  
2001 ◽  
Vol 19 (1) ◽  
pp. 11-19 ◽  
Author(s):  
Victor Santibañez ◽  
Rafael Kelly
Keyword(s):  
Asymptotic Stability ◽  
Global Asymptotic Stability ◽  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Classical Model ◽  
Experimental Tests ◽  
Torque Control ◽  
Direct Drive ◽  
Pd Control ◽  
Control Scheme

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.

Conditions for the local and global asymptotic stability of the time–fractional Degn–Harrison system

2020 ◽  
Vol 21 (7-8) ◽  
pp. 749-759
Author(s):  
Rachida Mezhoud ◽  
Khaled Saoudi ◽  
Abderrahmane Zaraï ◽  
Salem Abdelmalek
Keyword(s):  
Asymptotic Stability ◽  
Global Asymptotic Stability ◽  
Lyapunov Method ◽  
Sufficient Conditions ◽  
Reaction Diffusion ◽  
Linearization Method ◽  
Direct Lyapunov Method ◽  
Fractional Systems ◽  
Reaction Diffusion Model ◽  
Theoretical Results

AbstractFractional calculus has been shown to improve the dynamics of differential system models and provide a better understanding of their dynamics. This paper considers the time–fractional version of the Degn–Harrison reaction–diffusion model. Sufficient conditions are established for the local and global asymptotic stability of the model by means of invariant rectangles, the fundamental stability theory of fractional systems, the linearization method, and the direct Lyapunov method. Numerical simulation results are used to illustrate the theoretical results.

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