Performance Tuning for a New Class of Globally Stable Controllers for Robot Manipulators (CROSBI ID 506436)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Performance Tuning for a New Class of Globally Stable Controllers for Robot Manipulators
In this paper a new class of globally stable controllers for robot manipulators is proposed. The global asymptotic stabilization is achieved by adding a nonlinear damping term to linear PID controller. By using Lyapunov's direct method and LaSalle's invariance principle, explicit conditions on controller parameters which ensure global asymptotic stability are obtained. Further, the Lyapunov function is employed for evaluation of the performance index and determination of the optimal values of controller parameters. Finally, an example is given to demonstrate the obtained results.
robot control; global stability; performance evaluation; Lyapunov stability; nonlinear control; robot manipulators
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Podaci o prilogu
2005.
objavljeno
Podaci o matičnoj publikaciji
Preceedings of 16th IFAC World Congress on Automatic Control
Podaci o skupu
16th IFAC World Congress on Automatic Control
predavanje
04.07.2005-08.07.2005
Prag, Češka Republika