Proving the uniform boundedness of some commonly used controlschemes for robots

摘要

The uniform boundedness of the errors of some commonly usedcontrol schemes is considered analytically. Both fixed-point andtrajectory control with proportional/derivative feedback are shown. Theuniform boundedness of both the feedforward dynamic compensation methodand the reduced feedforward compensation method are shown. A simplecontrol scheme is given. An application to walking machines ispresented. A technique of choosing Lyapunov functions is proposed tosolve these problems