Title: Design of a set of controllers for an n-link robot manipulator

Authors: Leena Gopinathan; K.B. Datta; G. Ray

Addresses: Department of Electrical and Electronics Engineering, Manav Rachna International University (MRIU), Sector 43, Surajkund Bhadkal Road, Faridabad 121003, Haryana, India ' 148/B, Hijili Coperative Soceity, Kharagpur, West Bengal 721 302, India ' Department of Electrical Engineering, Indian Institute of Technology, Kharagpur, West Bengal, 721302, India

Abstract: A class of stabilising decentralised controllers for an n-link manipulator was found out using a simple design technique where the feedback gains are obtained by checking the stability of the closed-loop system. We obtained the range of decentralised controllers using Lyapunov-based interval matrix approach. The control objective is to achieve accurate tracking of desired joint trajectories. The ith link robot manipulator is described and then a decentralised control strategy is proposed. In this method a range of controllers is obtained by modification of the model reference adaptive control technique based on Lyapunov stability approach for interval matrices. This characterisation is useful for designing an optimal set of controller parameters. Simulation results are shown to demonstrate the applicability of the proposed control scheme for a time-varying trajectory tracking.

Keywords: Lyapunov stability; decentralised control; robot manipulators; interval matrix; controller design; robot control; trajectory tracking; joint trajectories; model reference adaptive control; MRAC; simulation.

DOI: 10.1504/IJAAC.2012.051885

International Journal of Automation and Control, 2012 Vol.6 No.3/4, pp.277 - 290

Received: 10 Apr 2012
Accepted: 08 Sep 2012

Published online: 07 Nov 2014 *

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