TY - GEN
T1 - Semiglobally strictly passive two-port network representation of rigid link manipulator under PID trajectory-tracking control
AU - Kikuuwe, Ryo
PY - 2010
Y1 - 2010
N2 - This paper presents a mathematical representation of a system composed of a rigid link manipulator under PID trajectory-tracking control. The representation describes the system as a two-port network that accepts the external force (including the gravity) and the desired velocity as the inputs and produces the actuator force and a motion-related quantity as the outputs. The input-output causality between the desired velocity and the actuator force is reversible by exploiting the fact that they are connected through a feedthrough term. The model is shown to be state-strictly and output-strictly passive in the semiglobal sense by using a storage function suggested by Wen and Murphy [1990] as a Lyapunov function for a PID-controlled robot. The new model allows the analysis of a class of controllers that are represented as an interconnection of a PID controller and another controller such as a sliding mode controller. In addition, it leads to an alternative proof for the semiglobal stability of PID set-point control.
AB - This paper presents a mathematical representation of a system composed of a rigid link manipulator under PID trajectory-tracking control. The representation describes the system as a two-port network that accepts the external force (including the gravity) and the desired velocity as the inputs and produces the actuator force and a motion-related quantity as the outputs. The input-output causality between the desired velocity and the actuator force is reversible by exploiting the fact that they are connected through a feedthrough term. The model is shown to be state-strictly and output-strictly passive in the semiglobal sense by using a storage function suggested by Wen and Murphy [1990] as a Lyapunov function for a PID-controlled robot. The new model allows the analysis of a class of controllers that are represented as an interconnection of a PID controller and another controller such as a sliding mode controller. In addition, it leads to an alternative proof for the semiglobal stability of PID set-point control.
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U2 - 10.1109/CDC.2010.5717792
DO - 10.1109/CDC.2010.5717792
M3 - Conference contribution
AN - SCOPUS:79953143722
SN - 9781424477456
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3529
EP - 3535
BT - 2010 49th IEEE Conference on Decision and Control, CDC 2010
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 49th IEEE Conference on Decision and Control, CDC 2010
Y2 - 15 December 2010 through 17 December 2010
ER -