Performance Tuning for a New Class of Globally Stable Controllers for Robot Manipulators
| Authors: | Kasac Josip, University of Zagreb, Croatia (Local Name: Hrvatska)
Novakovic Branko, University of Zagreb, Croatia (Local Name: Hrvatska)
Majetic Dubravko, University of Zagreb, Croatia (Local Name: Hrvatska)
Brezak Danko, University of Zagreb, Croatia (Local Name: Hrvatska) |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Manipulators Control |
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| Keywords: | robot control, global stability, performance evaluation, Lyapunovstability, nonlinear control, robot manipulators |
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Abstract
In this paper a new class of globally stable controllers for robotmanipulators is proposed. The global asymptotic stabilization isachieved by adding a nonlinear damping term to linear PIDcontroller. By using Lyapunov's direct method and LaSalle'sinvariance principle, explicit conditions on controller parameterswhich ensure global asymptotic stability are obtained. Further,Lyapunov functions is employed for evaluation of the performanceindex and determination of optimal values of controllerparameters. Finally, an example is given to demonstrate theobtained results.
