A unified perspective on robot control: The energy lyapunov function approach
✍ Scribed by John T. Wen
- Publisher
- John Wiley and Sons
- Year
- 1990
- Tongue
- English
- Weight
- 708 KB
- Volume
- 4
- Category
- Article
- ISSN
- 0890-6327
No coin nor oath required. For personal study only.
✦ Synopsis
A unified framework for the stability analysis of robot tracking control is presented. By using an energymotivated Lyapunov function candidate, the closed-loop stability is shown for a large family of control laws sharing a common structure of proportional and derivative feedback and a model-based feedforward. The feedforward can be zero, partial or complete linearized dynamics, partial or complete non-linear dynamics, or linearized or non-linear dynamics with parameter adaptation. As a result, the dichotomous approaches to the robot control problem based on the open-loop linearization and non-linear Lyapunov analysis are both included in this treatment. Furthermore, quantitative estimates of the trade-offs between different schemes in terms of the tracking performance, steady state error, domain of convergence, realtime computation load and required (I priori model information are derived.