A Class of Quasi-Natural Potentials and Hyper-Stable PID Servo-Loops for Nonlinear Robotic Systems

• ARIMOTO Suguru

  Faculty of Engineering, The University of Tokyo

書誌事項

タイトル別名

• Class of Quasi Natural Potentials and H

抄録

This paper introduces a quasi-natural potential in robot dynamics, which induces a type of sinusoidal position (joint-angle) feedback with saturation in servo-loops. By means of SP-D (Saturated Proportional and Differential) feedback, not only the robot dynamics incorporated with these servo-loops but also the residual error dynamics between the desired and actual joint trajectories satisfy the passivity with respect to the residual input torque and a linear sum of residual velocity and saturated residual position outputs. It is shown by taking advantage of the hyper-stability theory that in the case of set-point control an independent “hyper-stable servo-loop” constructed from a PI feedback of such a linear sum in addition to the SP-D feedback gives rise to the globally asymptotic stability. It is further shown that in the case of trajectory tracking the passivity of residual robot dynamics with SP-D feedback loops plays a vital role and eventually leads to the adaptability in model-based adaptive control and the learnability in iterative learning.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 30 (9), 1005-1012, 1994

  公益社団法人 計測自動制御学会

キーワード

• quasi-natural potential
• hyper-stable PID servo
• robot manipulator
• hyper-stability theory passivity

詳細情報

• CRID: 1390282679478637952
• NII論文ID: 130003791002
• NII論文ID: 10006648714
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr1965.30.1005
• ISSN: 18838189
• ISSN: 04534654
• NDL書誌ID: 3886562
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3886562
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/30/9/30_9_1005/_pdf
• 本文言語コード: en
• データソース種別:
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  • NDL
  • Crossref
  • CiNii Articles
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