A new class of energy based control laws for revolute robot arms - Tracking control, robustness enhancement and adaptive controlA class of joint-level control laws for all-revolute robot arms is introduced. The analysis is similar to the recently proposed energy Liapunov function approach except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. By using energy Liapunov functions with the modified potential energy, a much simpler analysis can be used to show closed-loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness-enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted, and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the nonadaptive control laws by their estimates.
Document ID
19880067387
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Wen, John T. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Kreutz, Kenneth (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bayard, David S. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)