Stability and robustness of a class of nonlinear controllers for robot manipulators
Stability and robustness of a class of nonlinear controllers for robot manipulators
复制标题
一类机器人机械手非线性控制器的稳定性和鲁棒性
DOI：
10.23919/acc.2004.1384688
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
G. Heppler
中科院分区：
文献类型：
--
作者：
T. Ravichandran;David W. L. Wang;G. Heppler
针对刚性机械臂的跟踪控制问题，提出了由非线性增益PD反馈控制器和标称机械臂动力学前馈项组成的PD +前馈控制器的稳定性和鲁棒性分析。建立了跟踪误差的指数收敛性和一致最终有界性。最后给出了仿真结果。
The stability and robustness analysis of PD-plus-feedforward controllers comprised of a nonlinear gain PD feedback controller and a nominal manipulator dynamics feedforward term is presented for the tracking control of rigid robot manipulators. Exponential convergence and the uniform ultimate boundedness of the tracking errors are established. Finally, simulation results are also presented.