TY - JOUR
T1 - A Novel Tuning Method of PD with Gravity Compensation Controller for Robot Manipulators
AU - Perrusquia, Adolfo
AU - Flores-Campos, Juan Alejandro
AU - Torres-San-Miguel, Christopher Rene
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2020
Y1 - 2020
N2 - Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle's theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots.
AB - Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle's theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots.
KW - Global asymptotic stability
KW - Lyapunov function
KW - PD control
KW - gravity compensation
KW - tuning
UR - http://www.scopus.com/inward/record.url?scp=85087842224&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2020.3003842
DO - 10.1109/ACCESS.2020.3003842
M3 - Artículo
SN - 2169-3536
VL - 8
SP - 114773
EP - 114783
JO - IEEE Access
JF - IEEE Access
M1 - 9122010
ER -