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 language | English |
|---|---|
| Title of host publication | Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 |
| Pages | 767-772 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2011 |
| Event | 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 - Beijing, China Duration: Jun 21 2011 → Jun 23 2011 |
Other
| Other | 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 |
|---|---|
| Country | China |
| City | Beijing |
| Period | 6/21/11 → 6/23/11 |
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Keywords
- Position Tracking
- Robot Arm
- Time-Efficient Control
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Time-efficient control law for position tracking of robotic arm
AU - Shafiq, Muhammad
AU - Yousef, Hassan
AU - Iqbal, Muhammad
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
KW - Position Tracking
KW - Robot Arm
KW - Time-Efficient Control
UR - http://www.scopus.com/inward/record.url?scp=80052216112&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80052216112&partnerID=8YFLogxK
U2 - 10.1109/ICIEA.2011.5975689
DO - 10.1109/ICIEA.2011.5975689
M3 - Conference contribution
AN - SCOPUS:80052216112
SN - 9781424487554
SP - 767
EP - 772
BT - Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
ER -