Global Regulation for Robotics Manipulators Based on Kinetic Energy.

摘要

In this paper we design a controller for state feedback, of systems Euler-Lagrange, based on dynamic properties, and basically in stability of Lyapunov method. The control of systems Euler-Lagrange is an interesting topic, since historically the control of these, especially the mechanics (robots manipulators), it is based on technical extremely simple, as they are it the controllers PD, PID, etc. In these a general theory of the obtaining of these controllers is not involved, reason why in this work a form is given of as obtaining a controller PD, which is approached by Lyapunov functions and other inherent properties of the systems Euler- Lagrange. The systems Euler-Lagrange counts in its dynamics with characteristic very special, which are taken advantage of by a great variety of authors to carry out control, this topic intends taking advantage of some properties, as the skew-symmetric property, passivity or characterization of the property of Popov regarding inputs and outputs, and other very common definitions, like Lyapunov functions and of kinetic energy.