Local Stability and Ultimate Boundedness in the Control of Robot Manipulators

2022 ◽  
Author(s):  
Marco A. Arteaga ◽  
Alejandro Gutiérrez-Giles ◽  
Javier Pliego-Jiménez
Keyword(s):  
Local Stability ◽  
Robot Manipulators ◽  
Ultimate Boundedness

Decentralized and Hierarchical Control of a Class of Robot Manipulators

1994 ◽  
Vol 208 (3) ◽  
pp. 139-148 ◽  
Author(s):  
J H S Osman ◽  
P D Roberts
Keyword(s):  
Control Strategy ◽  
Robot Manipulators ◽  
Hierarchical Control ◽  
Reference Trajectory ◽  
Deterministic Approach ◽  
Ultimate Boundedness ◽  
Uniform Ultimate Boundedness ◽  
Tracking Controller ◽  
System Output ◽  
System Uncertainties

This paper is concerned with the design of robust controllers for uncertain non-linear robot manipulators based on a deterministic approach. A decentralized tracking controller is presented in which the controller is designed for each subsystem based only on its local states. For the cases in which the interconnection functions between the subsystems are large, a two-level hierarchical control strategy is proposed. In designing the controllers, only the bounds on the system uncertainties are assumed to be known. It is shown theoretically and through computer simulations that the proposed controllers guarantee uniform ultimate boundedness of the error between the reference trajectory and the system output.

Numerical Analysis of the Age-Sex-Structured Population Dynamics Taking into Account Spatial Diffusion

2005 ◽  
Vol 10 (4) ◽  
pp. 365-381 ◽  
Author(s):  
Š. Repšys ◽  
V. Skakauskas
Keyword(s):  
Population Dynamics ◽  
Numerical Analysis ◽  
Population Model ◽  
Local Stability ◽  
Deterministic Model ◽  
Random Mating ◽  
Spatial Diffusion ◽  
Neumann Problems ◽  
Structured Population ◽  
Structured Population Dynamics

We present results of the numerical investigation of the homogenous Dirichlet and Neumann problems to an age-sex-structured population dynamics deterministic model taking into account random mating, female’s pregnancy, and spatial diffusion. We prove the existence of separable solutions to the non-dispersing population model and, by using the numerical experiment, corroborate their local stability.

An Observer-Based Design for Robust Control of Robot Manipulators

1990 ◽  
Author(s):  
Walter Grossman ◽  
Farshad Khorrami ◽  
Bernard Friedland
Keyword(s):  
Robust Control ◽  
Robot Manipulators

Mathematical views of the fractional Chua's electrical circuit described by the Caputo-Liouville derivative

2021 ◽  
Vol 67 (1 Jan-Feb) ◽  
pp. 91
Author(s):  
N. Sene
Keyword(s):  
Caputo Derivative ◽  
Local Stability ◽  
Numerical Scheme ◽  
Equilibrium Points ◽  
Electrical Circuit ◽  
Maximal Lyapunov Exponent ◽  
Electrical Circuits ◽  
Adaptive Controls ◽  
Liouville Derivative

This paper revisits Chua's electrical circuit in the context of the Caputo derivative. We introduce the Caputo derivative into the modeling of the electrical circuit. The solutions of the new model are proposed using numerical discretizations. The discretizations use the numerical scheme of the Riemann-Liouville integral. We have determined the equilibrium points and study their local stability. The existence of the chaotic behaviors with the used fractional-order has been characterized by the determination of the maximal Lyapunov exponent value. The variations of the parameters of the model into the Chua's electrical circuit have been quantified using the bifurcation concept. We also propose adaptive controls under which the master and the slave fractional Chua's electrical circuits go in the same way. The graphical representations have supported all the main results of the paper.

Whole Arm Grasping Control for Redundant Robot Manipulators

2005 ◽  
Author(s):  
D. Braganza ◽  
M. L. McIntyre ◽  
D. M. Dawson ◽  
I. Walker
Keyword(s):  
Robot Manipulators ◽  
Redundant Robot
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