期刊
IEEE ACCESS
卷 8, 期 -, 页码 114773-114783出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3003842
关键词
Global asymptotic stability; Lyapunov function; PD control; gravity compensation; tuning
资金
- Government of Mexico by the National Council of Science and Technology (CONACYT)
- Instituto Politecnico Nacional [SIP 20201964, SIP 20201500, SIP 20200930]
Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle's theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots.
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