Global tracking for robot manipulators using a simple causal pd controller plus feedforward

Authors:
Eduardo v. l. Nunes;Liu Hsu
Affiliations:
Department of electrical engineering/coppe, federal university of rio de janeiro, p.o. box 68504, rio de janeiro, 21941-972 rj, brazil.;Department of electrical engineering/coppe, federal university of rio de janeiro, p.o. box 68504, rio de janeiro, 21941-972 rj, brazil.
Venue:
Robotica
Year:
2010

Citing 12
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Abstract

This paper shows that a well-known causal PD controller plus feedforward solves the global output feedback tracking control problem of robot manipulators, by requiring only the existence of the robot natural damping, no matter how small. To this end, we first demonstrate that a robot controlled by a causal PD is globally input-to-state stable (ISS) with respect to a bounded input disturbance. Then, we prove that the addition of a feedforward compensation renders the error system uniformly globally asymptotically stable. Furthermore, we present a possible extension to more general nonlinear systems and also to uncertain systems.