Alternative proofs of four stability properties of rigid-link manipulators under PID position control

Ryo Kikuuwe

研究成果: ジャーナルへの寄稿学術誌査読

5 被引用数 (Scopus)

抄録

This paper presents new proofs of four stability properties (semiglobal strict passivity, semiglobal asymptotic stability, semiglobal input-to-state stability, and semiglobal uniform ultimate boundedness with an arbitrarily reducible ultimate bound) of a rigid-link manipulator under proportional- integral-derivative (PID) position control. The proofs employ a strict Lyapunov function and a novel parameterization to provide four inequality conditions for the stability properties. In those inequalities, arithmetic operations on physical quantities are physically consistent if the joints are all revolute or all prismatic. A gain selection procedure is presented by which the ultimate bounds of velocity error, position error, and its integral can be independently designed.

本文言語英語
ページ(範囲)113-122
ページ数10
ジャーナルRobotica
31
1
DOI
出版ステータス出版済み - 1月 2013

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 数学一般
  • コンピュータ サイエンスの応用

フィンガープリント

「Alternative proofs of four stability properties of rigid-link manipulators under PID position control」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル