Globally stable dual-mode control of robots

被引：0
|
作者：
Gorez, R [1 ]
Antonelli, G [1 ]
机构：
[1] Univ Catholique Louvain, Ctr Syst Engn & Appl Mech, B-1348 Louvain, Belgium
来源：
MOTION CONTROL (MC'98) | 1999年
关键词：
actuator constraints; bounded control; dual-mode control; mechanical systems; PID control; robot 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：
Decoupled nonlinear robot controllers are designed via Lyapunov or passivity-based techniques. The global asymptotic stability of the final position in point-to-point motions is proved for position-velocity (PD) controllers, taking into account actuator bounds, and also for nonlinear three-term (PID) controllers with no limitation of the controller outputs. This suggests a dual-mode control where integration of the error signal is interrupted during controller saturation. Tests on an industrial robot show the performance of such control systems. (C) 1998 IFAC.
引用
收藏
页码：109 / 114
页数：6
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