ACADSTAFF UGM
| Judul/Title | A simple proportional plus PD sign for asymptotically stable robot manipulators |
| Penulis/Author | Dr.Eng. Ir. Adha Imam Cahyadi, S.T., M.Eng., IPM. (1) ; Dr. Ir. Samiadji Herdjunanto, M.Sc. (2); Prof. Dr.Eng. Ir. Herianto, S.T., M.Eng., IPU., ASEAN Eng. (3) |
| Tanggal/Date | 2016 |
| Kata Kunci/Keyword | |
| Abstrak/Abstract | In this paper we propose a Proportional controller plus switching constant for robot manipulator. Using a simple change of variable, we modify the original robot equation into an equation for which a Lyapunov Function can be constructed. The derivative of the Lyapunov Function alongside the dynamic of robot manipulator using the proposed controller is guaranteed to be asymptotically stable under some conditions. To the best of the author knowledge this type of controller is the simplest among any other controllers ever. |
| Level | Internasional |
| Status |