Pregled bibliografske jedinice broj: 194271
Performance Tuning for a New Class of Globally Stable Controllers for Robot Manipulators
Performance Tuning for a New Class of Globally Stable Controllers for Robot Manipulators // Preceedings of 16th IFAC World Congress on Automatic Control
Prag, Češka Republika, 2005. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Performance Tuning for a New Class of Globally Stable Controllers for Robot Manipulators
Autori
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Preceedings of 16th IFAC World Congress on Automatic Control
/ - , 2005
Skup
16th IFAC World Congress on Automatic Control
Mjesto i datum
Prag, Češka Republika, 04.07.2005. - 08.07.2005
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
robot control; global stability; performance evaluation; Lyapunov stability; nonlinear control; robot manipulators
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
Napomena
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