On global trajectory tracking control of robot manipulators in cylindrical phase space

ABSTRACT

In this paper a novel approach to the global trajectory tracking control problem for manipulators is presented. The generalised coordinates of such mechanical systems include the link angles, that makes it possible to consider the trajectory tracking control problem in a cylindrical phase space. We propose a design procedure for nonlinear controller with computed feedforward of robot manipulators. Stability proof of the closed-loop system is given by constructing the Lyapunov function which is periodic in angular coordinates with a semi-definite time derivative and using the quasi-invariance principle for non-autonomous systems of ordinary differential equations. We illustrate the implementation of the controller using simulation example.

Keywords:

• Mechanical system
• global trajectory tracking control
• robot manipulator
• lyapunov function
• cylindrical phase space

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by Russian Foundation for Basic Research under Grant [18-41-730022]; and Ministry of Education and Science of Russia within the framework of the State task under Grant [9.5994.2017/BP].