A novel approach to prove the stability of PD control with feedforward compensation in robotic trajectory tracking

Abstract

In the present paper, we propose a novel approach to prove the stability of PD control with feedforward compensation in trajectory-tracking of robot manipulator. Based on the state equation of robot manipulator, a new simple Lyapunov Function is constructed, with which the stability of the controller is proved. In addition, the way to select the proportional and derivative gains is also given. Simulation tests are included, with reference to a planar two-link manipulator.