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
相关论文
共 50 条
  • [21] Dual-mode predictive control of a rotor suspension system
    Yue Wu
    Gui-Ping Ren
    Hai-Tao Zhang
    Science China Information Sciences, 2020, 63
  • [22] SYNTHESIS OF ASYMPTOTIC OPTIMUM DUAL-MODE CONTROL SYSTEMS
    MEDVEDIV, GA
    AUTOMATION AND REMOTE CONTROL, 1965, 25 (08) : 1050 - &
  • [23] Dual-Mode Switched Control of an Electropneumatic Clutch Actuator
    Langjord, Hege
    Johansen, Tor Arne
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2010, 15 (06) : 969 - 981
  • [24] Interoperable Control Architecture for Cybercars and Dual-Mode Cars
    Naranjo, Jose E.
    Bouraoui, Laurent
    Garcia, Ricardo
    Parent, Michel
    Sotelo, Miguel Angel
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2009, 10 (01) : 146 - 154
  • [25] Couplings control in a compact microstrip dual-mode resonator
    Banciu, M. G.
    Ioachim, A.
    Ramer, R.
    Militaru, N.
    Lojewski, G.
    MICROWAVE AND OPTICAL TECHNOLOGY LETTERS, 2007, 49 (09) : 2290 - 2295
  • [26] Dual-Mode Motor Control Scheme for Electric Motorcycle
    Zhou, ZhengChi
    Gao, MinYu
    He, ZhiWei
    Zeng, Yu
    2018 IEEE 4TH INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE 2018), 2018, : 106 - 111
  • [27] A flexible dual-mode sensor with decoupled strain and temperature sensing for smart robots
    Li, Shiying
    Yang, Mengyu
    Wu, Yuanzhao
    Asghar, Waqas
    Lu, Xingjian
    Zhang, Haifeng
    Cui, Enhong
    Fang, Zaojun
    Shang, Jie
    Liu, Yiwei
    Li, Run-Wei
    MATERIALS HORIZONS, 2024, 11 (24) : 6361 - 6370
  • [28] Dual-mode predictive control of a rotor suspension system
    Yue WU
    Gui-Ping REN
    Hai-Tao ZHANG
    ScienceChina(InformationSciences), 2020, 63 (01) : 178 - 189
  • [29] EXPERIMENTAL DUAL-MODE CONTROL OF A FLEXIBLE ROBOTIC ARM
    YIM, WS
    ZUANG, JC
    SINGH, S
    ROBOTICA, 1992, 10 : 135 - 145
  • [30] Control Schemes for Seamless Transition in Dual-Mode Microgrids
    Nair, Radhu R.
    Hosseinzadeh, Nasser
    Hieu Trinh
    2022 IEEE PES 14TH ASIA-PACIFIC POWER AND ENERGY ENGINEERING CONFERENCE, APPEEC, 2022,
12345