Robust robot control for global attraction with finite reachability time

摘要

A robot mathematical model is accepted to incorporate a description of friction phenomena in joints. The following is guaranteed by a proposed robust stabilizing feedback control: 1. positive invariance, global stability and global attraction with a finite reachability time of a set W of sliding motions, and 2. global attraction with a finite reachability time of a desired motion q <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">d</inf> (·). The control is robust with respect to unknown and unpredictable form of robot nonlinearities due to friction. The theoretical result is well verified by presented simulations of motions of a three-degree-of-freedom robot.