Time-efficient control law for position tracking of robotic arm

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a time-efficient control law for the position tracking of single link robotic arm. The proposed control law can be modified or extended to use for other applications. Global asymptotic stability of the closed-loop is assured based on the Lyapunov function. Computer simulation and laboratory scale experimental results show that set-point tracking is fast compared to that of the standard PD controller. The control and output signals are oscillation free.

Original languageEnglish
Title of host publicationProceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
Pages767-772
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 - Beijing, China
Duration: Jun 21 2011Jun 23 2011

Other

Other2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
CountryChina
CityBeijing
Period6/21/116/23/11

Fingerprint

Robotic arms
Lyapunov functions
Asymptotic stability
Telecommunication links
Controllers
Computer simulation

Keywords

  • Position Tracking
  • Robot Arm
  • Time-Efficient Control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Shafiq, M., Yousef, H., & Iqbal, M. (2011). Time-efficient control law for position tracking of robotic arm. In Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 (pp. 767-772). [5975689] https://doi.org/10.1109/ICIEA.2011.5975689

Time-efficient control law for position tracking of robotic arm. / Shafiq, Muhammad; Yousef, Hassan; Iqbal, Muhammad.

Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011. 2011. p. 767-772 5975689.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shafiq, M, Yousef, H & Iqbal, M 2011, Time-efficient control law for position tracking of robotic arm. in Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011., 5975689, pp. 767-772, 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011, Beijing, China, 6/21/11. https://doi.org/10.1109/ICIEA.2011.5975689
Shafiq M, Yousef H, Iqbal M. Time-efficient control law for position tracking of robotic arm. In Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011. 2011. p. 767-772. 5975689 https://doi.org/10.1109/ICIEA.2011.5975689
Shafiq, Muhammad ; Yousef, Hassan ; Iqbal, Muhammad. / Time-efficient control law for position tracking of robotic arm. Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011. 2011. pp. 767-772
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