Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

Y. D. SONG; R. H. MIDDLETON

doi:10.1109/cdc.1990.203364

Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

Y. D. SONG^*
, R. H. MIDDLETON

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

3 Citations (Scopus)

Abstract

The path tracking problem of a robot manipulator with time varying parameters is considered. Using the properties of the element-by-element (or Hadarmad) product of matrices, the robot dynamics is obtained in parameter-isolated form, from which a new control scheme is developed. The stability is addressed by verifying an integral inequality motivated by the Barbalat lemma, rather than the more common Lyapunov method. The proposed controller yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching-type control law. It is shown that the controller presented does not involve much online computation since it only depends on bounds on the variation of the system parameters, which can easily be predetermined offline.

Original language	English
Title of host publication	Proceedings of the 29th IEEE Conference on Decision and Control
Publisher	IEEE
Pages	3112-3117
Number of pages	6
Volume	6
DOIs	https://doi.org/10.1109/cdc.1990.203364
Publication status	Published - 1990
Externally published	Yes
Event	29th IEEE Conference on Decision and Control - Honolulu, United States Duration: 5 Dec 1990 → 7 Dec 1990

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISSN (Print)	0191-2216

Conference

Conference	29th IEEE Conference on Decision and Control
Country/Territory	United States
City	Honolulu
Period	5/12/90 → 7/12/90

Access to Document

10.1109/cdc.1990.203364

Cite this

@inproceedings{5cd9d1d6ebaa419ab9c58721b5f4d629,

title = "Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks",

abstract = "The path tracking problem of a robot manipulator with time varying parameters is considered. Using the properties of the element-by-element (or Hadarmad) product of matrices, the robot dynamics is obtained in parameter-isolated form, from which a new control scheme is developed. The stability is addressed by verifying an integral inequality motivated by the Barbalat lemma, rather than the more common Lyapunov method. The proposed controller yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching-type control law. It is shown that the controller presented does not involve much online computation since it only depends on bounds on the variation of the system parameters, which can easily be predetermined offline.",

author = "SONG, \{Y. D.\} and MIDDLETON, \{R. H.\}",

year = "1990",

doi = "10.1109/cdc.1990.203364",

language = "English",

volume = "6",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "IEEE",

pages = "3112--3117",

booktitle = "Proceedings of the 29th IEEE Conference on Decision and Control",

note = "29th IEEE Conference on Decision and Control ; Conference date: 05-12-1990 Through 07-12-1990",

}

SONG, YD & MIDDLETON, RH 1990, Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks. in Proceedings of the 29th IEEE Conference on Decision and Control. vol. 6, Proceedings of the IEEE Conference on Decision and Control, IEEE, pp. 3112-3117, 29th IEEE Conference on Decision and Control, Honolulu, Hawaii, United States, 5/12/90. https://doi.org/10.1109/cdc.1990.203364

Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks. / SONG, Y. D.; MIDDLETON, R. H.
Proceedings of the 29th IEEE Conference on Decision and Control. Vol. 6 IEEE, 1990. p. 3112-3117 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

TY - GEN

T1 - Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

AU - SONG, Y. D.

AU - MIDDLETON, R. H.

PY - 1990

Y1 - 1990

N2 - The path tracking problem of a robot manipulator with time varying parameters is considered. Using the properties of the element-by-element (or Hadarmad) product of matrices, the robot dynamics is obtained in parameter-isolated form, from which a new control scheme is developed. The stability is addressed by verifying an integral inequality motivated by the Barbalat lemma, rather than the more common Lyapunov method. The proposed controller yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching-type control law. It is shown that the controller presented does not involve much online computation since it only depends on bounds on the variation of the system parameters, which can easily be predetermined offline.

AB - The path tracking problem of a robot manipulator with time varying parameters is considered. Using the properties of the element-by-element (or Hadarmad) product of matrices, the robot dynamics is obtained in parameter-isolated form, from which a new control scheme is developed. The stability is addressed by verifying an integral inequality motivated by the Barbalat lemma, rather than the more common Lyapunov method. The proposed controller yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching-type control law. It is shown that the controller presented does not involve much online computation since it only depends on bounds on the variation of the system parameters, which can easily be predetermined offline.

UR - https://www.scopus.com/pages/publications/0025550995

U2 - 10.1109/cdc.1990.203364

DO - 10.1109/cdc.1990.203364

M3 - Conference paper (refereed)

AN - SCOPUS:0025550995

VL - 6

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 3112

EP - 3117

BT - Proceedings of the 29th IEEE Conference on Decision and Control

PB - IEEE

T2 - 29th IEEE Conference on Decision and Control

Y2 - 5 December 1990 through 7 December 1990

ER -

Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

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