An application of optimal control theory to the trajectory tracking of rigid robot manipulators

Autor:	D. M. Dawson, M. T. Grabbe
Rok vydání:	1994
Předmět:	Lyapunov stability Robot kinematics Control and Optimization Applied Mathematics Iterative learning control Control engineering Optimal control Computer Science::Robotics Tracking error Exponential stability Control and Systems Engineering Control theory Feedback linearization Software Mathematics
Zdroj:	Optimal Control Applications and Methods. 15:237-249
ISSN:	1099-1514 0143-2087
DOI:	10.1002/oca.4660150403
Popis:	In this paper optimal control theory is applied to the trajectory tracking problem for a rigid robot manipulator. First a stability result is developed showing the relationship between optimal control theory and the global exponential stability of a class of second-order non-linear systems. Next this class of nonlinear systems is shown to contain the trajectory tracking error dynamics for a rigid robot manipulator when using a modified computed torque controller with an auxiliary input. Finally the stability result is applied to the tracking error dynamics to determine the auxiliary input to the robot controller. The result is a non-linear feedback control law which provides exponentially stable position and velocity tracking for a rigid robot manipulator without complete feedback linearization of the robot dynamics.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::ce78ba7c8f2b4687f1fe30693d0988e0 https://doi.org/10.1002/oca.4660150403 Zobrazit plný text záznamu Plný text