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This paper addresses the position control of robot manipulators in general task space with a model-free controller. A simple proportional-integral-derivative (PID) control is developed. The closed-loop system formed by the proposed PID control and the robot system is shown to be global asymptotically stable. Conditions on controller gains ensuring global asymptotic stability are obtained herein in...
This paper studies the asymptotic tracking of robot manipulators subject to actuator saturation. A saturated proportional-derivative (SPD) plus (SPD+) scheme is developed based on the commonly used linear proportional-derivative (PD) plus computed feedforward of robot dynamics (PD+). The closed-loop system formed by the proposed SPD+ controller and the robot system is shown to be semiglobal asymptotically...
This paper presents trajectory tracking of robot manipulators using linear and nonlinear proportional-derivative (PD) type controllers. It is shown that the controller gains which are nonlinear functions of system states can improve tracking performance and prevent actuator saturation. Furthermore, it is shown that global asymptotic stability of the closed-loop system can be achieved with the proposed...
A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, position/force hybrid control of an endeffector of a multi-joint redundant (or nonredundant) robot under a nonholonomic constraint is reinterpreted in terms of ldquosubmersionrdquo in Riemannian geometry. A force control signal...
A passivity-based model-free second order sliding mode controller is proposed for redundant manipulators under holonomic constraints. The closed-loop system enforces exponential tracking on the exerted contact force and the end-effector cartesian position trajectories as the primary task, while the controller reconfigures dynamically the whole kinematic chain in order to satisfy a secondary task through...
A novel robust Hinfin intelligent control (RHIC) strategy is proposed for the trajectory following problem of robot manipulators. The proposed system is comprised of a computed torque controller and neural robust controller. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee Hinfin tracking performance of robotic system, in the sense that all variables of the...
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