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Lyapunov function-based control laws for revolute robot arms: tracking control, robustness, and adaptive control

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3 Author(s)
Wen, J.T. ; Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA ; Kreutz-Delgado, K. ; Bayard, D.S.

A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to an energy-like Lyapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates

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Automatic Control, IEEE Transactions on  (Volume:37 ,  Issue: 2 )