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Global Saturated Regulator with Variable Gains for Robot Manipulators

Brandon Sánchez-García, Fernando Reyes-Cortés, Basil Al-Hadithi, Olga Félix-Beltrán
2021 Journal of Robotics and Control (JRC)  
A strict Lyapunov function is proposed to demonstrate globally asymptotic stability of the close-loop equilibrium point.  ...  In this paper we propose a set of saturated controllers with variable gains to solve the regulation problem for robot manipulators in joint space.  ...  Furthermore, the saturated global controllers with a gamma of variable gains are a solution to regulation problem in joint space, globally asymptotic stability using a strict Lyapunov function is proved  ... 
doi:10.18196/26139 fatcat:2vksjgukx5asxfq6cipxqc2yhy

Analysis and Synthesis of Global Nonlinear H∞ Controller for Robot Manipulators

Carlos Alberto Chavez Guzmán, Luis Tupak Aguilar Bustos, Jován Oseas Mérida Rubio
2015 Mathematical Problems in Engineering  
A solution to the global nonlinear H∞ regulation problem for l-degrees-of-freedom (l-DOF) robot manipulators, affected by external disturbances, is presented.  ...  We showed that the Hamilton-Jacobi-Isaacs (HJI) inequality, inherited in the solution of the H∞ control problem, is satisfied by defining a strict Lyapunov function.  ...  Acknowledgments Carlos Alberto Chavez Guzmán would like to thank Programa para el Desarrollo Profesional Docente, Universidad Autónoma de Baja California, and the Program of High Quality scholarship for  ... 
doi:10.1155/2015/410873 fatcat:vl34w33vyzdrvgkim4wa2jwjzm

An asinh-type regulator for robot manipulators with global asymptotic stability

Fernando Reyes-Cortes, Basil M. Al-Hadithi
2020 Automatika  
A strict Lyapunov function to formally prove global asymptotic stability is developed.  ...  In this paper, a new asinh-type control scheme with gravity compensation for the position control problem of robot manipulators in joint space is presented.  ...  Funding The authors would like to thank the Benemerita Universidad Autonoma de Puebla, for its financial support with the project VIEP-100048866-2019 (Control de posición con ganancias variables de robots  ... 
doi:10.1080/00051144.2020.1796111 fatcat:bi5pspzatvbrlnzkbignh5wsky

Performance Analysis of Adaptive Backstepping Control on Robotic ARM

Mohammed Junaid R, Prof. Laila Beebi M
2015 International Journal of Engineering Research and  
The parameters of the robotic arm are assumed to be initially unknown. They can be estimated by using the Adaptive Backstepping mechanism design.  ...  Simulation results are presented to show the performance of the AdaptiveBackstepping control and found to be satisfactory.  ...  The efficiency and accuracy of the robot manipulators has a great influence on the production and quality of the product. A robot manipulator is a movable chain of links interconnected by joints.  ... 
doi:10.17577/ijertv4is060566 fatcat:uhdg5kxyofeurdpygczbqbkuoy

A new strict Lyapunov function for fully-actuated mechanical systems controlled by IDA-PBC

J.A. Acosta, E. Panteley, R. Ortega
2009 2009 IEEE International Conference on Control Applications  
In this brief note a new strict Lyapunov function for mechanical systems controlled by the well-known Passivitybased Control technique of Interconnection and Damping Assignment is proposed.  ...  The resulting Lyapunov function contains, as particular cases, previous functions obtained for robot manipulators controlled by potential energy-shaping (plus damping injection) schemes.  ...  ACKNOWLEDGEMENTS The work of J.Á. Acosta was supported by The Consejería de Innovación, Ciencia y Empresa of The Junta de Andalucía under IAC programme, and by The Ministerio de Ciencia e  ... 
doi:10.1109/cca.2009.5280704 dblp:conf/IEEEcca/AcostaPO09 fatcat:ohatvrs2efgrpixiix3wcihnty

A Family of Hyperbolic-Type Explicit Force Regulators with Active Velocity Damping for Robot Manipulators

Fernando Reyes-Cortés, César Chávez-Olivares, Emilio J. González-Galván
2018 Journal of Robotics  
This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks.  ...  In order to ensure asymptotic stability of the closed-loop system equilibrium point in Cartesian space, we propose a strict Lyapunov function.  ...  Our proposal of force regulators is supported by a stability analysis in Lyapunov sense using a strict Lyapunov function.  ... 
doi:10.1155/2018/9324623 fatcat:rbs5njtxdba7jogc2oqfc7wvoq

Desired Model Compensation based Position Constrained Control of Robotic Manipulators [article]

Samet Gul, Erkan Zergeroglu, Enver Tatlicioglu, Mesih Veysi Kilinc
2020 arXiv   pre-print
This work presents the design and the corresponding stability analysis of desired model based, joint position constrained, robot controller.  ...  [8] and [9] used prescribed performance criteria for regulation control of robot manipulators which are extended to tracking control in [10] , [11] , [12] .  ...  barrier Lyapunov functions.  ... 
arXiv:2004.11277v2 fatcat:niougtpmpfd7lbx5iwsi6ibfjq

Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems

A. Astolfi, R. Ortega
2003 IEEE Transactions on Automatic Control  
The method relies upon the notions of system immersion and manifold invariance and, in principle, does not require the knowledge of a (control) Lyapunov function.  ...  The construction of the stabilizing control laws resembles the procedure used in nonlinear regulator theory to derive the (invariant) output zeroing manifold and its friend.  ...  Kravaris for providing preprints of their work.  ... 
doi:10.1109/tac.2003.809820 fatcat:3wkwhfvubjhmpj3ozqxlhaecla

Hybrid Fuzzy Sliding Mode Control for Uncertain PAM Robot Arm Plant Enhanced with Evolutionary Technique

Ho Pham Huy Anh, Cao Van Kien
2021 International Journal of Computational Intelligence Systems  
As a consequent, the closed-loop stability of nonlinear uncertain PAM robot arm system is guaranteed to follow the global asymptotic stability. Experimental results are shown.  ...  The nonlinear features of investigated PAM robot arm system are approximated using fuzzy logic.  ...  Propose candidate Lyapunov function and exactly prove the asymptotically convergent property for the nonlinear PAM manipulator based on Lyapunov stability principle. 3.  ... 
doi:10.2991/ijcis.d.210107.001 fatcat:6bbqpnpojbcj3h4sf35vy74zbe

A robust adaptive robot controller

H. Berghuis, R. Ortega, H. Nijmeijer
1993 IEEE Transactions on Robotics and Automation  
A globally convergent adaptive control scheme for robot motion control with the following features is proposed.  ...  A simulation example of a two-DOF manipulator features some aspects of the control scheme.  ...  As a consequence, the exponential stability result (8) is not global in a strict mathematical sense. 6 ) 6 To motivate our choice of the Lyapunov function (1 l), which was inspired by [17], let us consider  ... 
doi:10.1109/70.265925 fatcat:6jm4kneixva2bjrwltt6hw6xwi

Stitching Dynamic Movement Primitives and Image-based Visual Servo Control [article]

Ghananeel Rotithor, Iman Salehi, Edward Tunstel, Ashwin P. Dani
2022 arXiv   pre-print
Stability analysis of the switched system using multiple Lyapunov functions shows that the state trajectories converge to a bound asymptotically.  ...  Once the recipient part is in the field of view (FOV), Image-based Visual Servo (IBVS) can be used to control the motion of the robot.  ...  Multiple Lyapunov functions for analyzing Lyapunov stability and iterated function systems as a tool for Lagrange stability is proposed in [15] .  ... 
arXiv:2111.00088v2 fatcat:zutjvmmtbvehzpjphougyoh4hq

Neural Control of Bimanual Robots With Guaranteed Global Stability and Motion Precision

Chenguang Yang, Yiming Jiang, Zhijun Li, Wei He, Chun-Yi Su
2017 IEEE Transactions on Industrial Informatics  
There exist ideal weight vector W * such that |ε(Z)| < ε * with constant ε * > 0 for all Z ∈ Ω Z . 2) Global NN control design: Let us define a positive Lyapunov function as, V i2 = V i1 + 1 2 z T i M  ...  In this paper, we aim to achieve both tailored transient performance and guaranteed global stability at the same time, by exploiting the barrier Lyapunov functions (BLFs).  ... 
doi:10.1109/tii.2016.2612646 fatcat:cuptswjxybbbtijm3azldyjgvm

Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach

Huashan Liu, Kuangrong Hao, Xiaobo Lai
2011 International Journal of Advanced Robotic Systems  
First, considering the fact that the output toque of joint actuators is limited, a general expression for a class of saturation functions is given to be applied in the control law.  ...  To deal with the problem of the output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation  ...  Introduction For tracking problem of robot manipulators, it is crucial to overcome the situation of noisy velocity and acceleration measurements in actual working conditions.  ... 
doi:10.5772/45690 fatcat:6noizqiu2jhbvbjxo6547j5ebq

Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space

Andres Pizarro-Lerma, Victor Santibañez, Ramon Garcia-Hernandez, Jorge Villalobos-Chin
2021 Mathematics  
This strict Lyapunov function is the first one within the field of fuzzy control that is applied to the trajectory control of robotic manipulators.  ...  Global uniform asymptotic stability proof applying the direct Lyapunov theorem, is introduced for this new control scheme by using a strict Lyapunov function.  ...  This strict Lyapunov function allowed for us to evaluate the sensitivity to changes in the elements of the robot model.  ... 
doi:10.3390/math9060616 fatcat:6hsro3kqivgotma4ftsc27crd4

Adaptive Tracking and Regulation of a Wheeled Mobile Robot With Controller/Update Law Modularity

W.E. Dixon, M.S. de Queiroz, D.M. Dawson, T.J. Flynn
2004 IEEE Transactions on Control Systems Technology  
Index Terms-Adaptive control, input-output stability, Lyapunov methods, least squares methods, mobile robot dynamics.  ...  The modularity of the adaptive controller is experimentally demonstrated on a K2A Cybermotion mobile robot that has been modified to allow for the implementation of torque-level control inputs.  ...  In contrast to the adaptive controllers for WMR's, several adaptive control results have been formulated for robot manipulators that explore new methods of parameter estimation.  ... 
doi:10.1109/tcst.2003.819587 fatcat:r4ut2xnhgbgrxcggsnu4qdf5uy
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