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PD control with feedforward compensation for robot manipulators: analysis and experimentation

Published online by Cambridge University Press:  12 January 2001

Victor Santibañez  and
Rafael Kelly
Victor Santibañez
Affiliation:
Instituto Tecnológico de la Laguna, Apdo. Postal 49. Adm. 1, Torreón, Coah., 27001 (Mexico)
Rafael Kelly
Affiliation:
División de Física Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800(Mexico)
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Abstract

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.

Keywords

Motion controlRobot controlStability analysisLyapunov functionPD controlFeedforward control
Type
Research Article
Information
Robotica , Volume 19 , Issue 1 , January 2001 , pp. 11 - 19
Copyright
© 2001 Cambridge University Press

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