NDLI: Stability analysis of adaptively controlled flexible joint manipulators

Content Provider	IEEE Xplore Digital Library
Author	Ghorbel, F. Spong, M.W.
Copyright Year	1990
Description	Author affiliation: Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA (Ghorbel, F.; Spong, M.W.)
Abstract	The composite slow/fast control strategy, consisting of a slow adaptive controller designed for a rigid robot together with a fast control to damp the elastic oscillations of the joints, was previously derived by the authors. In this paper, mathematical details of the algorithm are presented. By using the composite Lyapunov theory for singularly perturbed systems, sufficient conditions are obtained for adaptive trajectory tracking. For point-to-point motion it is shown that there is always a range of joint stiffness for which convergence is achieved, and the region of convergence is quantified. For tracking (smooth and bounded) reference trajectories, sufficient conditions for closed-loop stability and uniform boundedness of the tracking error are given. A residual set to which the tracking error converges is quantified. It is also shown that for special classes of trajectories, which include step responses generated from reference models and certain joint interpolated trajectories, asymptotic tracking can be achieved.<>
Starting Page	2538
Ending Page	2544
File Size	740913
Page Count	7
File Format	PDF
DOI	10.1109/CDC.1990.203465
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1990-12-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability analysis Adaptive control Manipulators Robot kinematics Robot control Programmable control Sufficient conditions Trajectory Convergence Tracking loops
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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