Global Asymptotic Stabilization of Robot Manipulators with Mixed Revolute and Prismatic Joints (CROSBI ID 498488)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Global Asymptotic Stabilization of Robot Manipulators with Mixed Revolute and Prismatic Joints
In this paper a class of globally stable controllers for robotic manipulators with mixed revolute and prismatic joints is proposed. The global asymptotic stabilization is achieved by adding a nonlinear proportional and derivative term to the linear PID controller. By using Lyapunov's direct method, explicit conditions on controller parameters which ensure global asymptotic stability are obtained. Further, the Lyapunov function is employed for the evaluation of a performance index and determination of optimal values of controller parameters. Finally, an example is given to demonstrate the obtained results.
robot control; global stability; PID control; nonlinear control;
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Podaci o prilogu
1541-1546-x.
2004.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of 6th IFAC Symposium on Nonlinear Control Systems
Stuttgart: Elsevier
Podaci o skupu
6th IFAC Symposium on Nonlinear Control Systems
poster
01.09.2004-03.09.2004
Stuttgart, Njemačka