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A unified perspective on robot control: The energy lyapunov function approach
Author(s) -
Wen John T.
Publication year - 1990
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480040607
Subject(s) - control theory (sociology) , lyapunov function , feed forward , adaptive control , stability (learning theory) , lyapunov stability , mathematics , a priori and a posteriori , computer science , linearization , nonlinear system , control (management) , control engineering , engineering , artificial intelligence , philosophy , physics , epistemology , quantum mechanics , machine learning
A unified framework for the stability analysis of robot tracking control is presented. By using an energy‐motivated Lyapunov function candidate, the closed‐loop stability is shown for a large family of control laws sharing a common structure of proportional and derivative feedback and a model‐based feedforward. The feedforward can be zero, partial or complete linearized dynamics, partial or complete non‐linear dynamics, or linearized or non‐linear dynamics with parameter adaptation. As a result, the dichotomous approaches to the robot control problem based on the open‐loop linearization and non‐linear Lyapunov analysis are both included in this treatment. Furthermore, quantitative estimates of the trade‐offs between different schemes in terms of the tracking performance, steady state error, domain of convergence, realtime computation load and required a priori model information are derived.