computed torque control - seoul national university · 2018. 4. 16. · 1 dongjunlee motion control...
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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
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Dongjun Lee
Lyapunov Stability ‐Definition
(1857‐1918)
Dongjun Lee
Lyapunov Stability ‐ Examples
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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
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Dongjun Lee
Invariance Principle
Dongjun Lee
Passivity‐Based Tracking Control
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Dongjun Lee
Barbalat’s Lemma
Dongjun Lee
Trajectory Tracking Convergence Proof
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Dongjun Lee
Trajectory Tracking Control ‐Theorem
Dongjun Lee
Alternative Passivity‐Based Control with r
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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
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Dongjun Lee
Ultimate Boundedness
Dongjun Lee
Passivity‐Based Adaptive Control
passivity (cf. CLF)
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Dongjun Lee
Convergence Proof
Dongjun Lee
Observability of LTV Systems
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Dongjun Lee
Observability Grammian
Dongjun Lee
Persistency of Excitation
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Dongjun Lee
Workspace EF Control
Dongjun Lee
Workspace Dynamics
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Dongjun Lee
Workspace Control
wrench sensing
Dongjun Lee
Workspace Control: Example
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