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

Published online by Cambridge University Press:  09 April 2009

Eduardo V. L. Nunes  and
Liu Hsu
Eduardo V. L. Nunes*
Affiliation:
Department of Electrical Engineering/COPPE, Federal University of Rio de Janeiro, P.O. BOx 68504, Rio de Janeiro, 21941-972 RJ, Brazil.
Liu Hsu
Affiliation:
Department of Electrical Engineering/COPPE, Federal University of Rio de Janeiro, P.O. BOx 68504, Rio de Janeiro, 21941-972 RJ, Brazil.
*
*Corresponding author. E-mail: eduardo@coep.ufrj.br
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Summary

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.

Keywords

Robot manipulatorsOutput feedbackGlobal trackingInput-to-state stabilityPD control
Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 23 - 34
Copyright
Copyright © Cambridge University Press 2009

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