The principle of self-support in robot control synthesis

Abstract

A methodology for stabilization of robotic systems by means of a feedback control is presented. Its main advantage is that the gains in the control law are selected on the basis of information concerning the input (control) signal only (its previous values, its constraints, etc.). The control signal is thus in some way self-supported. This overcomes the problem of most existing control methodologies which first evaluate a model of the robot dynamics and then incorporate elements of that model in a control law. This increases computational complexity. The strategy brings simple, model-free, effective algorithms that guarantee practical tracking. They are realistic from the engineering standpoint and can be implemented using current microprocessor technology.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>