An asinh-type regulator for robot manipulators with global asymptotic stability

摘要

In this paper, a new asinh-type control scheme with gravity compensation for the position control problem of robot manipulators in joint space is presented. The properties and characteristics
\nof the asinh control structure make the position error and the motion velocity asymptotically converge to the equilibrium point. A strict Lyapunov function to formally prove global
\nasymptotic stability is developed. The tuning of the control gains is obtained by PSO (Particle
\nSwarm Optimization) technique without saturating the servomotors. To illustrate the effectiveness and performance of the proposed scheme, an experimental comparative analysis between
\nthe proportional-derivative (PD) and atanh controls against the proposed algorithm on a three
\ndegrees of freedom direct-drive robot manipulator is carried out.