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Dongjun Lee
Motion Control of Robotic Manipulators
Dongjun Lee (이동준)
Department of Mechanical & Aerospace EngineeringSeoul National University
Dongjun Lee
Computed Torque Control
exact dynamics cancelation
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Dongjun Lee
Stabiliy of Second‐Order LTI System
Dongjun Lee
Cross‐Coupling Term
cross‐coupling term
3
Dongjun Lee
Lyapunov Stability ‐Definition
(1857‐1918)
Dongjun Lee
Lyapunov Stability ‐ Examples
4
Dongjun Lee
Lyapunov Direct Theorem
x
V
negative‐definite
negativesemi‐definite
Dongjun Lee
Lyapunov Stability – Non‐autonomous System
5
Dongjun Lee
Lyapunov Direct Theorem
decrescent condition
strictly‐increasing with (0)=0
Dongjun Lee
Passivity‐Based Control
feedforward (inverse dynamics) kinematic feedback
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Dongjun Lee
Passivity‐Based Tracking Control
dynamics utilized
Dongjun Lee
Passivity‐Based Stabilization
7
Dongjun Lee
Invariance Principle
Dongjun Lee
Passivity‐Based Tracking Control
8
Dongjun Lee
Barbalat’s Lemma
Dongjun Lee
Trajectory Tracking Convergence Proof
9
Dongjun Lee
Trajectory Tracking Control ‐Theorem
Dongjun Lee
Alternative Passivity‐Based Control with r
10
Dongjun Lee
Effect of Uncertainty ‐ I
Dongjun Lee
Effect of Uncertainty ‐ II
uncertainty
matching uncertainty: appears in same channel with control
negative‐definiteas before
want to make still negativeeven with uncertainty
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Dongjun Lee
Passivity‐Based Robust Control
matched uncertainty
Dongjun Lee
Boundary‐Layer Approximation
hold for all t
12
Dongjun Lee
Ultimate Boundedness
Dongjun Lee
Passivity‐Based Adaptive Control
passivity (cf. CLF)
13
Dongjun Lee
Convergence Proof
Dongjun Lee
Observability of LTV Systems
14
Dongjun Lee
Observability Grammian
Dongjun Lee
Persistency of Excitation
15
Dongjun Lee
Workspace EF Control
Dongjun Lee
Workspace Dynamics
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Dongjun Lee
Workspace Control
wrench sensing
Dongjun Lee
Workspace Control: Example