Abstract
In this paper a class of globally stable controllers for robotic manipulators with mixed revolute and prismatic joints is proposed. The global asymptotic stabilization is achieved by adding a non linear proportional and derivative term to the linear PID controller. By using Lyapunov's direct method, explicit conditions on controller parameters which ensure global asymptotic stability are obtained. Further, the Lyapunov function is employed for the evaluation of a performance index and determination of optimal values of controller parameters. Finally, an example is given to demonstrate the obtained results.
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