TRAJECTORY CONTROL OF ROBOTIC MANIPULATORS - A COMPARISON STUDY

被引：0
|
作者：
Lee, Ho-Hoon [1 ]
机构：
[1] Southeastern Louisiana Univ, Dept Ind & Engn Technol, Hammond, LA 70402 USA
来源：
PROCEEDINGS OF THE ASME 2020 INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, IMECE2020, VOL 7A | 2020年
关键词：
SLIDING MODE CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, two different types of model-based trajectory control schemes are designed and compared for the control of robotic manipulators. First, two PD-based control schemes and one sliding-mode control scheme are designed, where Lyapunov stability theorem is used as a mathematical design tool. Then, the performances of the PD-based control schemes are compared to those of the sliding-mode control schemes with realistic computer simulations. The global asymptotic stability and the boundedness of all internal signals of the designed control schemes are shown with Lyapunov stability theorem.
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页数：6
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