Stability Proof of a New Motion Controller using Strong Lyapunov Function

J.L. Oviedo-Barriga, F. Reyes-Cortés, and P. Sánchez-Sánchez (Mexico)


Motion Control, Energy Shaping, Strong Lyapunov Func tion, L2 norm, Artificial Potential Energy, La Salle’s Inva riance principle.


The main objective of this paper is to propose a new motion controller and to accomplish its asymptotic stability proof in a global way using Lyapunov’s strong functions with out La Salle’s Invariance Principle tool. Accomplishing the proposed controller comparison against simple PD+ controller, obtaining the performance index as a result by means of L2 norm. The evaluation of the controller is accomplish by means of its application in a Joint Robot Arm.

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