Geodesic
A family of hyperbolic-type control schemes for robot manipulators
Kybernetika, Tome 55 (2019) no. 3, pp. 561-585.

Voir la notice de l'article provenant de la source Czech Digital Mathematics Library

This paper deals with the global position control problem of robot manipulators in joint space, a new family of control schemes consisting of a suitable combination of hyperbolic functions is presented. The proposed control family includes a large class of bounded hyperbolic-type control schemes to drive both position error and derivative action terms plus gravity compensation. To ensure global asymptotic stability of closed-loop system equilibrium point, we propose an energy-shaping based strict Lyapunov function. To verify the efficiency of the proposed control algorithm, an experimental comparative analysis between the well known unbounded linear PD control and three hyperbolic-type control schemes of the proposed family on a three degrees of freedom direct-drive robot manipulator is analysed.
DOI : 10.14736/kyb-2019-3-0561
Classification : 68T40, 93C85, 93D05
Keywords: Lyapunov stability; control; robot-manipulator; regulation 
@article{10_14736_kyb_2019_3_0561,
     author = {Reyes-Cortes, Fernando and Felix-Beltran, Olga and Cid-Monjaraz, Jaime and Alonso-Aruffo, Gweni},
     title = {A family of hyperbolic-type control schemes for robot manipulators},
     journal = {Kybernetika},
     pages = {561--585},
     publisher = {mathdoc},
     volume = {55},
     number = {3},
     year = {2019},
     doi = {10.14736/kyb-2019-3-0561},
     mrnumber = {4015999},
     zbl = {07144954},
     language = {en},
     url = {http://geodesic.mathdoc.fr/articles/10.14736/kyb-2019-3-0561/}
}
TY  - JOUR
AU  - Reyes-Cortes, Fernando
AU  - Felix-Beltran, Olga
AU  - Cid-Monjaraz, Jaime
AU  - Alonso-Aruffo, Gweni
TI  - A family of hyperbolic-type control schemes for robot manipulators
JO  - Kybernetika
PY  - 2019
SP  - 561
EP  - 585
VL  - 55
IS  - 3
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/articles/10.14736/kyb-2019-3-0561/
DO  - 10.14736/kyb-2019-3-0561
LA  - en
ID  - 10_14736_kyb_2019_3_0561
ER  - 
%0 Journal Article
%A Reyes-Cortes, Fernando
%A Felix-Beltran, Olga
%A Cid-Monjaraz, Jaime
%A Alonso-Aruffo, Gweni
%T A family of hyperbolic-type control schemes for robot manipulators
%J Kybernetika
%D 2019
%P 561-585
%V 55
%N 3
%I mathdoc
%U http://geodesic.mathdoc.fr/articles/10.14736/kyb-2019-3-0561/
%R 10.14736/kyb-2019-3-0561
%G en
%F 10_14736_kyb_2019_3_0561
Reyes-Cortes, Fernando; Felix-Beltran, Olga; Cid-Monjaraz, Jaime; Alonso-Aruffo, Gweni. A family of hyperbolic-type control schemes for robot manipulators. Kybernetika, Tome 55 (2019) no. 3, pp. 561-585. doi : 10.14736/kyb-2019-3-0561. http://geodesic.mathdoc.fr/articles/10.14736/kyb-2019-3-0561/

Cité par Sources :