Stability Analysis of a Voltage-Based Controller for Robot Manipulators
A voltage-based control scheme for robot manipulators has been presented in recent literature, where feedback linearization is applied in the electrical equations of the DC motors in order to cancel the electrical current terms. However, in this paper we show that this control technique generates a...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2013-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/53894 |
| _version_ | 1819013304178180096 |
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| author | Jorge Orrante-Sakanassi Victor Santibañez Javier Moreno-Valenzuela |
| author_facet | Jorge Orrante-Sakanassi Victor Santibañez Javier Moreno-Valenzuela |
| author_sort | Jorge Orrante-Sakanassi |
| collection | DOAJ |
| description | A voltage-based control scheme for robot manipulators has been presented in recent literature, where feedback linearization is applied in the electrical equations of the DC motors in order to cancel the electrical current terms. However, in this paper we show that this control technique generates a system of the form Ex = Ax + Bu , where E is a singular matrix, that is to say, a generalized state-space system or singular system. This paper introduces a formal stability analysis of the respective system by considering the state-space equation as a singular system. Furthermore, in order to avoid the singularity of the closed-loop system, modified voltage-based control schemes are proposed, whose Lyapunov stability analyses conclude semiglobal asymptotic stability for the set-point control case and uniform boundedness of the solutions and semiglobal convergence of the position, as well as velocity errors for the tracking control case. The proposed control systems are simulated for the tracking and set-point cases using the CICESE Pelican robot driven by DC motors. |
| first_indexed | 2024-12-21T01:57:49Z |
| format | Article |
| id | doaj.art-2828e6a8049c41ec903bcef426feb20a |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-21T01:57:49Z |
| publishDate | 2013-01-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-2828e6a8049c41ec903bcef426feb20a2022-12-21T19:19:42ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-01-011010.5772/5389410.5772_53894Stability Analysis of a Voltage-Based Controller for Robot ManipulatorsJorge Orrante-Sakanassi0Victor Santibañez1Javier Moreno-Valenzuela2 Instituto Tecnologico de La Laguna, Mexico Instituto Tecnologico de La Laguna, Mexico Instituto Politecnico Nacional-CITEDI, MexicoA voltage-based control scheme for robot manipulators has been presented in recent literature, where feedback linearization is applied in the electrical equations of the DC motors in order to cancel the electrical current terms. However, in this paper we show that this control technique generates a system of the form Ex = Ax + Bu , where E is a singular matrix, that is to say, a generalized state-space system or singular system. This paper introduces a formal stability analysis of the respective system by considering the state-space equation as a singular system. Furthermore, in order to avoid the singularity of the closed-loop system, modified voltage-based control schemes are proposed, whose Lyapunov stability analyses conclude semiglobal asymptotic stability for the set-point control case and uniform boundedness of the solutions and semiglobal convergence of the position, as well as velocity errors for the tracking control case. The proposed control systems are simulated for the tracking and set-point cases using the CICESE Pelican robot driven by DC motors.https://doi.org/10.5772/53894 |
| spellingShingle | Jorge Orrante-Sakanassi Victor Santibañez Javier Moreno-Valenzuela Stability Analysis of a Voltage-Based Controller for Robot Manipulators International Journal of Advanced Robotic Systems |
| title | Stability Analysis of a Voltage-Based Controller for Robot Manipulators |
| title_full | Stability Analysis of a Voltage-Based Controller for Robot Manipulators |
| title_fullStr | Stability Analysis of a Voltage-Based Controller for Robot Manipulators |
| title_full_unstemmed | Stability Analysis of a Voltage-Based Controller for Robot Manipulators |
| title_short | Stability Analysis of a Voltage-Based Controller for Robot Manipulators |
| title_sort | stability analysis of a voltage based controller for robot manipulators |
| url | https://doi.org/10.5772/53894 |
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