A family of hyperbolic-type control schemes for robot manipulators

Reyes-Cortes, Fernando ; Felix-Beltran, Olga ; Cid-Monjaraz, Jaime ; Alonso-Aruffo, Gweni

Kybernetika, Tome 55 (2019) no. 3, pp. 561-585

Abstract (VO)

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.

Détail

DOI : 10.14736/kyb-2019-3-0561

Classification : 68T40, 93C85, 93D05
Keywords: Lyapunov stability; control; robot-manipulator; regulation

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