Globally asymptotically stable ‘PD+’ controller for robot manipulators
Globally asymptotically stable ‘PD+’ controller for robot manipulators
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DOI：
10.1080/00207178808906130
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发表时间：
1988-06
影响因子：
2.1
通讯作者：
B. Paden;Ravi Panja
中科院分区：
文献类型：
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作者：
B. Paden;Ravi Panja
描述了一种全局稳定的机器人操作臂跟踪控制器。该控制器是Takegaki和Arimoto的位置控制器在跟踪情况下的推广，其中Matrosov定理被用来证明其稳定性。这种控制器的一个吸引人的特点是它类似于计算的力矩控制器，在位置和速度反馈环之外具有惯性矩阵。因此，我们的控制器被分解为内环PD环和外环动态补偿环。这种结构允许简单的PD计算以比数字实现中的动态补偿环路更快的速度运行。
We describe a globally stable tracking controller for robot manipulators. The controller is an extension of Takegaki and Arimoto's position controller to the tracking case where a theorem of Matrosov is used to prove its stability. An attractive feature of this controller is its resemblance to the computed torque controller with the inertia matrix outside the position and velocity feedback loops. Thus, our controller is decomposed into an inner PD loop and an outer dynamic compensation loop. This structure allows the simple PD computations to be run at a higher speed than the dynamic compensation loop in digital implementations.