A family of hyperbolic-type control schemes for robot manipulators

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

Kybernetika (2019)

  • Volume: 55, Issue: 3, page 561-585
  • ISSN: 0023-5954

Abstract

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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.

How to cite

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Reyes-Cortes, Fernando, et al. "A family of hyperbolic-type control schemes for robot manipulators." Kybernetika 55.3 (2019): 561-585. <http://eudml.org/doc/294295>.

@article{Reyes2019,
abstract = {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.},
author = {Reyes-Cortes, Fernando, Felix-Beltran, Olga, Cid-Monjaraz, Jaime, Alonso-Aruffo, Gweni},
journal = {Kybernetika},
keywords = {Lyapunov stability; control; robot-manipulator; regulation},
language = {eng},
number = {3},
pages = {561-585},
publisher = {Institute of Information Theory and Automation AS CR},
title = {A family of hyperbolic-type control schemes for robot manipulators},
url = {http://eudml.org/doc/294295},
volume = {55},
year = {2019},
}

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
PB - Institute of Information Theory and Automation AS CR
VL - 55
IS - 3
SP - 561
EP - 585
AB - 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.
LA - eng
KW - Lyapunov stability; control; robot-manipulator; regulation
UR - http://eudml.org/doc/294295
ER -

References

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