前馈
控制理论(社会学)
补偿(心理学)
机械手
理论(学习稳定性)
方案(数学)
控制工程
控制(管理)
计算机科学
机器人
扭矩
机械臂
指数稳定性
运动控制
工程类
数学
人工智能
物理
数学分析
精神分析
非线性系统
机器学习
热力学
量子力学
心理学
作者
Víctor Santibáñez,Rafael Kelly
出处
期刊:Robotica
[Cambridge University Press]
日期:2001-01-01
卷期号:19 (1): 11-19
被引量:75
标识
DOI:10.1017/s0263574700002848
摘要
One of the simplest and natural appealing motion control strategies for robot manipulators is the PD control with feedforward compensation. Although successful experimental tests of this control scheme have been published since the beginning of the eighties, the proof of global asymptotic stability has remained unattended until now. The contribution of this paper is to prove that global asymptotic stability can be guaranteed provided that the proportional and derivative gains are adequately selected. The performance of the PD control with feedforward compensation evaluated on a two degrees-of-freedom direct-drive arm appears as fine as the classical model-based computed torque control scheme.
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