The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON CIRCUITS AND SYSTEMS
Transactions ID Number: 32-795
Full Name: Fernando Reyes
Position: Doctor (Researcher)
Age: ON
Sex: Male
Address: Apartado Postal 542, Puebla 72001, Mexico
Country: MEXICO
Tel: +52 222 2295500 ext 7410
Tel prefix: +52 222 2295500 ext 7410
Fax: +52 222 2 295500 ext 7410
E-mail address: freyes@ece.buap.mx
Other E-mails: pacoterneus@hotmail.com,recf62@gmail.com
Title of the Paper: an exponential family of hyperbolic type controllers
Authors as they appear in the Paper: Francisco Terneus, Fernando Reyes and Eduardo Lebano
Email addresses of all the authors: freyes@ece.buap.mx,pacoterneus@hotmail.com
Number of paper pages: 12
Abstract: This paper addresses the problem of position control for robot manipulators. An Exponential family of Hyperbolic–Type controllers for robot manipulators is presented. The proposed family consists of a large class of control algorithms with nonlinear structure, which incorporates components of hyperbolic type to quickly drive the position error to zero position. We provide explicit sufficient conditions for ensuring directly global asymptotic stability of the closed-loop system composed by the nonlinear robot dynamics for n degrees of freedom and the proposed scheme. Besides the theoretical results, a real-time experimental comparison is also presented to illustrate the performance of the proposed family with other well-known control algorith such as PD and Hyperbolic Tangent schemes on a three degrees of freedom direct-drive robot arm.
Keywords: Global asymptotic stability, Lyapunov function, PD controller, robot manipulators, position control
EXTENSION of the file: .pdf
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