TY - JOUR
T1 - A robust velocity field control
AU - Cervantes, Ilse
AU - Kelly, Rafael
AU - Alvarez-Ramirez, Jose
AU - Moreno, Javier
N1 - Funding Information:
Manuscript received January 18, 2001. Manuscript received in final form February 5, 2002. This work was supported in part by CONACYT under Grant 32613-A. Recommended by Associate Editor K. Kozlowski. I. Cervantes is with SEPI-ESIME Culhuacan, Instituto Politecnico Nacional, Col. San Francisco Culhuacan, Mexico City, D.F. 04430, Mexico (e-mail: ilse@calmecac.esimecu.ipn.mx). R. Kelly and J. Moreno are with the Division de Fisica Aplicada, CICESE, Ensenada, B.C. 22800, Mexico. J. Alvarez-Ramirez is with the Division de Ciencias Basicas e Ingenieria, Universidad Autonoma Metropolitana-Iztapalapa, Mexico City, D.F. 09340, Mexico. Digital Object Identifier 10.1109/TCST.2002.804126
PY - 2002/11
Y1 - 2002/11
N2 - This paper is devoted to velocity field control (VFC) of uncertain robotic manipulators. We propose a proportional-integral (PI)-type controller derived from modeling error compensation ideas and singular perturbation theory, that requires a minimum knowledge of the plant (i.e., constant estimate of the inertia matrix). It is shown that semiglobal practical stabilization is achieved; that is, given any compact set of initial velocity field errors, there exist PI control gains which guarantee that the robot tracks a desired velocity field with arbitrary accuracy. The proposed controller was experimentally evaluated on a two degrees-of-freedom arm.
AB - This paper is devoted to velocity field control (VFC) of uncertain robotic manipulators. We propose a proportional-integral (PI)-type controller derived from modeling error compensation ideas and singular perturbation theory, that requires a minimum knowledge of the plant (i.e., constant estimate of the inertia matrix). It is shown that semiglobal practical stabilization is achieved; that is, given any compact set of initial velocity field errors, there exist PI control gains which guarantee that the robot tracks a desired velocity field with arbitrary accuracy. The proposed controller was experimentally evaluated on a two degrees-of-freedom arm.
KW - Integral control
KW - Semiglobal stability
KW - Uncertain robot dynamics
KW - Velocity field control (VFC)
UR - http://www.scopus.com/inward/record.url?scp=0036858961&partnerID=8YFLogxK
U2 - 10.1109/TCST.2002.804126
DO - 10.1109/TCST.2002.804126
M3 - Artículo
SN - 1063-6536
VL - 10
SP - 888
EP - 894
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 6
ER -