Abstract
This study presents an explicit upper bound to the energy function of an n-degree of freedom rigid robot while it is under the action of a PD controller. The resulting upper bound is an exponential function that reflects the effect of the controller gains on the form of the system response. A tuning-rule for setting the controller gains and adjusting the system rate of convergence towards the desired operating point in any given ball, centered at the system equilibrium point, has been demonstrated. As shown, the effect of the controller structure on the proposed upper bound is similar to the one resulted in the case of second order linear system.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 7th IEEE Mediterranean Conference on Control and Automation |
| Subtitle of host publication | (MED99) |
| State | Published - 1999 |
| Event | Proceedings of the 7th Mediterranean Conference on Control and Automation (MED99) - Duration: 28 Jun 1999 → 30 Jun 1999 |
Conference
| Conference | Proceedings of the 7th Mediterranean Conference on Control and Automation (MED99) |
|---|---|
| Period | 28/06/99 → 30/06/99 |