Abstract
In this paper a new class of globally stable controllers for robot manipulators is proposed. The global asymptotic stabilization is achieved by adding a nonlinear damping term to linear PID controller. By using Lyapunov's direct method and LaSalle's invariance principle, explicit conditions on controller parameters which ensure global asymptotic stability are obtained. Further, the Lyapunov function is employed for evaluation of the performance index and determination of the optimal values of controller parameters. Finally, an example is given to demonstrate the obtained results.
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