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Analysis and Synthesis of Global Nonlinear Controller for Robot Manipulators

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  • Carlos Alberto Chavez Guzmán
  • Luis Tupak Aguilar Bustos
  • Jován Oseas Mérida Rubio

Abstract

The regulation problem for robot manipulators using gravitational force compensation or precompensation has been solved locally while global asymptotical stability (or global stability) has been demonstrated using other methodologies. A solution to the global nonlinear regulation problem for -degrees-of-freedom ( -DOF) robot manipulators, affected by external disturbances, is presented. We showed that the Hamilton-Jacobi-Isaacs (HJI) inequality, inherited in the solution of the control problem, is satisfied by defining a strict Lyapunov function. The performance issues of the nonlinear regulator are illustrated in experimental and simulation studies made for a 3-DOF rigid links robot manipulator.

Suggested Citation

  • Carlos Alberto Chavez Guzmán & Luis Tupak Aguilar Bustos & Jován Oseas Mérida Rubio, 2015. "Analysis and Synthesis of Global Nonlinear Controller for Robot Manipulators," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-9, April.
    • Handle: RePEc:hin:jnlmpe:410873
    DOI: 10.1155/2015/410873
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