Proving the uniform boundedness of some commonly used control schemes for robots

Abstract

The uniform boundedness of the errors of some commonly used control schemes is considered analytically. Both fixed-point and trajectory control with proportional/derivative feedback are shown. The uniform boundedness of both the feedforward dynamic compensation method and the reduced feedforward compensation method are shown. A simple control scheme is given. An application to walking machines is presented. A technique of choosing Lyapunov functions is proposed to solve these problems.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>