On global trajectory tracking control of robot manipulators with a delayed feedback
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Published:2021-12-31
Issue:Volume 10, 2021, Number 4
Volume:
Page:231-239
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ISSN:2226-4116
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Container-title:Cybernetics and Physics
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language:en
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Short-container-title:CAP
Author:
Andreev Aleksandr1,
Peregudova Olga1
Affiliation:
1. Department of ISCT, Ulyanovsk State University, Russia
Abstract
In this paper, the trajectory tracking control problem of a robot manipulator with cylindrical joints is considered by means of a nonlinear PD controller taking into account the delayed feedback structure. The conclusion about stability of a closed-loop system is obtained on the basis of the development of the direct Lyapunov method in the study of the stability property for a non-autonomous functional differential equation by constructing a Lyapunov functional with a semi-definite time derivative.
Publisher
Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences - IPME RAS
Subject
Artificial Intelligence,Control and Optimization,Fluid Flow and Transfer Processes,Computer Vision and Pattern Recognition,Physics and Astronomy (miscellaneous),Signal Processing
Cited by
1 articles.
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