Semiglobally strictly passive two-port network representation of rigid link manipulator under PID trajectory-tracking control

Ryo Kikuuwe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages3529-3535
Number of pages7
DOIs
Publication statusPublished - Dec 1 2010
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: Dec 15 2010Dec 17 2010

Other

Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA
Period12/15/1012/17/10

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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  • Cite this

    Kikuuwe, R. (2010). Semiglobally strictly passive two-port network representation of rigid link manipulator under PID trajectory-tracking control. In 2010 49th IEEE Conference on Decision and Control, CDC 2010 (pp. 3529-3535). [5717792] https://doi.org/10.1109/CDC.2010.5717792