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TECHNICAL BRIEFS

PD-Based Trajectory Tracking Control for Robot Manipulators

[+] Author and Article Information
Cao Bailin

Department of Information and Control Engineering, Xi’an Jiaotong University, Xi’an, Shaanxi, People’s Republic of China

Chen Huitang

Department of Electrical Engineering, Tongji University, Shanghai, People’s Republic of China

J. Dyn. Sys., Meas., Control 115(3), 566-569 (Sep 01, 1993) (4 pages) doi:10.1115/1.2899140 History: Received December 13, 1990; Revised June 29, 1992; Online March 17, 2008

Abstract

In this paper, it is proved that a trajectory tracking system of a manipulator is globally stable if the system is controlled under the decentralized PD control law plus a sliding term with a constant coefficient, and the norm of the coefficient matrix of its differential term is no less than that of the centripetal and Coriolis’ force term corresponding to the desired angular velocity, i.e., ∥Kd ∥ ≥ ∥C(q, q̇ d )∥. Condition ∥Kd ∥ ≥ ∥C(q, q̇ d )∥ implies that Kd increases only with q̇ d instead of q̇ . A type of globally asymptotically stable adaptive sliding mode PD-based control scheme is proposed, and the proof of stability of the system is also given. It is easy to implement in real-time compared with other adaptive control laws as no estimation of gravitational and frictional forces is necessary.

Copyright © 1993 by The American Society of Mechanical Engineers
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