Analysis and Synthesis of Global Nonlinear Controller for Robot Manipulators

Carlos Alberto Chavez Guzmán, Luis Tupak Aguilar Bustos and Jován Oseas Mérida Rubio

Mathematical Problems in Engineering, 2015, vol. 2015, 1-9

Abstract:

The regulation problem for robot manipulators using gravitational force compensation or precompensation has been solved locally while global asymptotical stability (or global stability) has been demonstrated using other methodologies. A solution to the global nonlinear regulation problem for -degrees-of-freedom ( -DOF) robot manipulators, affected by external disturbances, is presented. We showed that the Hamilton-Jacobi-Isaacs (HJI) inequality, inherited in the solution of the control problem, is satisfied by defining a strict Lyapunov function. The performance issues of the nonlinear regulator are illustrated in experimental and simulation studies made for a 3-DOF rigid links robot manipulator.

Date: 2015
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:410873

DOI: 10.1155/2015/410873

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