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

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.

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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