{"title":"Trajectory Control of Robotic Manipulators: A Comparison Study","authors":"Ho-Hoon Lee","doi":"10.1115/IMECE2020-23964","DOIUrl":null,"url":null,"abstract":"\n In this paper, two different types of model-based trajectory control schemes are designed and compared for the control of robotic manipulators. First, two PD-based control schemes and one sliding-mode control scheme are designed, where Lyapunov stability theorem is used as a mathematical design tool. Then, the performances of the PD-based control schemes are compared to those of the sliding-mode control schemes with realistic computer simulations. The global asymptotic stability and the boundedness of all internal signals of the designed control schemes are shown with Lyapunov stability theorem.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Volume 7A: Dynamics, Vibration, and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/IMECE2020-23964","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, two different types of model-based trajectory control schemes are designed and compared for the control of robotic manipulators. First, two PD-based control schemes and one sliding-mode control scheme are designed, where Lyapunov stability theorem is used as a mathematical design tool. Then, the performances of the PD-based control schemes are compared to those of the sliding-mode control schemes with realistic computer simulations. The global asymptotic stability and the boundedness of all internal signals of the designed control schemes are shown with Lyapunov stability theorem.