Design of a set of controllers for an n-link robot manipulator
by Leena Gopinathan; K.B. Datta; G. Ray
International Journal of Automation and Control (IJAAC), Vol. 6, No. 3/4, 2012

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.

Online publication date: Fri, 07-Nov-2014

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