On global trajectory tracking control of robot manipulators with a delayed feedback
Авторы:
Aleksandr Andreev, Olga Peregudova
Страницы:
231-239
Аннотация:
In this paper, the trajectory tracking control problem of a robot manipulator with cylindrical joints is considered by means of a nonlinear PD controller taking into account the delayed feedback structure. The conclusion about stability of a closed-loop system is obtained on the basis of the development of the direct Lyapunov method in the study of the stability property for a non-autonomous functional differential equation by constructing a Lyapunov functional with a semi-definite time derivative.
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