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.

Tracking Control of Robot Manipulators Using a Robust Deterministic Control Law

1998 ◽  
Vol 120 (4) ◽  
pp. 537-541 ◽  
Author(s):  
C.-G. Kang ◽  
R. Horowitz ◽  
G. Leitmann
Keyword(s):  
Dynamic Systems ◽  
Tracking Control ◽  
Robot Manipulators ◽  
Experimental Studies ◽  
Control Law ◽  
Direct Drive ◽  
Control Scheme ◽  
Deterministic Control ◽  
Two Degree Of Freedom ◽  
Theoretical Developments

There have been theoretical developments on the control of dynamic systems based on deterministically uncertain and singularly perturbed models in recent years. In this paper, a robust deterministic control scheme proposed originally by M. Corless et al. is modified, and is applied to the tracking control of robot manipulators. Simulation and experimental studies for a two degree of freedom, direct drive SCARA manipulator are conducted to evaluate the effectiveness of the control scheme.

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

scholarly journals An asinh-type regulator for robot manipulators with global asymptotic stability

Automatika ◽  
2020 ◽  
Vol 61 (4) ◽  
pp. 574-586
Author(s):  
Fernando Reyes-Cortes ◽  
Basil M. Al-Hadithi
Keyword(s):  
Asymptotic Stability ◽  
Global Asymptotic Stability ◽  
Robot Manipulators

A Hierarchical Approach to Manipulator Velocity Field Control Considering Dynamic Friction Compensation

2005 ◽  
Vol 128 (3) ◽  
pp. 670-674 ◽  
Author(s):  
Javier Moreno-Valenzuela ◽  
Rafael Kelly
Keyword(s):  
Velocity Field ◽  
Degrees Of Freedom ◽  
Friction Compensation ◽  
Velocity Control ◽  
Hierarchical Approach ◽  
Direct Drive ◽  
Kinematic Control ◽  
Control Scheme ◽  
Field Control ◽  
Joint Velocity

The velocity field control of robot manipulators is addressed in this paper. The proposed algorithm has a hierarchical structure based on a velocity field kinematic control scheme for joint velocity resolution and an inner loop of joint velocity control that uses an observer for friction compensation. Experiments on a two degrees-of-freedom direct-drive arm illustrate the performance of the proposed controller.

A new tuning procedure for nonlinear PID global regulators with bounded torques for rigid robots

Robotica ◽  
2014 ◽  
Vol 33 (9) ◽  
pp. 1926-1947 ◽  
Author(s):  
Jorge Orrante-Sakanassi ◽  
Víctor Santibánez ◽  
Víctor M. Hernández-Guzmán
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Experimental Tests ◽  
Pid Controllers ◽  
Stability Conditions ◽  
Proportional Integral Derivative ◽  
Global Regulators ◽  
The Stability ◽  
First Time

SUMMARYIn this paper we propose new tuning conditions for three saturated nonlinear proportional-integral-derivative (PID) global regulators with bounded torques for robot manipulators, which have been presented previously in the literature. The motivation of this work relies on the fact that the tuning conditions presented previously in the literature for assuring global asymptotic stability are so restrictive that it had been impossible, until now, to carry out experimental tests. New tuning criteria of unsaturated PID controllers for robot manipulators with stability conditions more relaxed than those presented previously in the literature have been proposed recently in some works by the authors. This was achieved by setting the stability conditions as expressions that have to be satisfied at each joint instead of general conditions for the whole robot. Based on this idea, we now obtain stability conditions for saturated global PID controllers which are so relaxed that they have allowed to perform, by the first time, experimental tests using controller gains which completely satisfy the proposed stability conditions. The results of such experiments are presented in this paper, where we have used a two-degrees-of-freedom robot manipulator.

An Adaptive Evolutionary Switching Control for Robot Manipulators

2005 ◽  
Author(s):  
P. R. Ouyang ◽  
W. J. Zhang ◽  
Madan M. Gupta
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Switching Control ◽  
Learning Ability ◽  
Pd Control ◽  
Control Approach ◽  
Gain Switching ◽  
Control Scheme

In this paper, a new adaptive switching control approach, called adaptive evolutionary switching PD control (AES-PD), is proposed for iterative operations of robot manipulators. The proposed AES-PD control method is a combination of the feedback of PD control with gain switching and feedforward using the input torque profile obtained from the previous iteration. The asymptotic convergence of the AES-PD control method is theoretically proved using Lyapunov’s method. The philosophy of the switching control strategy is interpreted in the context of the iteration domain to increase the speed of the convergence for trajectory tracking of robot manipulators. The AES-PD control has a simple control structure that makes it easily implemented. The validity of the proposed control scheme is demonstrated for the trajectory tracking of robot manipulators through simulation studies. Simulation results show that the AES-PD control can improve the tracking performance with an increase of the iteration number. The EAS-PD control method has the adaptive and learning ability; therefore, it should be very attractive to applications of industrial robot control.

scholarly journals An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

2013 ◽  
Vol 23 (3) ◽  
pp. 599-611 ◽  
Author(s):  
Antonio Yarza ◽  
Victor Santibanez ◽  
Javier Moreno-Valenzuela
Keyword(s):  
Asymptotic Stability ◽  
Output Feedback ◽  
Global Asymptotic Stability ◽  
Motion Tracking ◽  
Robot Manipulators ◽  
Reference Trajectory ◽  
Feedback Controllers ◽  
Tracking Controller ◽  
Noisy Signals ◽  
First Time

Abstract This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.

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