Global stability analysis for some trajectory-tracking control schemes of robotic manipulators

Abstract

With a same Lyapunov function defined, the stability, robustness, and convergence speed of three widely used trajectory-tracking control schemes, i.e., the proportional-derivative (PD) control, the PD control with a feedforward compensation, and the PD control with a calculated feedforward compensation, are presented. All three control schemes are globally exponentially convergent. The trajectory-tracking features of the three control schemes are theoretically analyzed and compared. Suggestions are given for the choices of the control parameters. © 2001 John Wiley & Sons, Inc.