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Dongjun Lee

Motion Control of Robotic Manipulators

Dongjun Lee (이동준)

Department of Mechanical & Aerospace EngineeringSeoul National University

Dongjun Lee

Computed Torque Control

exact dynamics cancelation

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Dongjun Lee

Stabiliy of Second‐Order LTI System

Dongjun Lee

Cross‐Coupling Term

cross‐coupling term

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Dongjun Lee

Lyapunov Stability ‐Definition

(1857‐1918)

Dongjun Lee

Lyapunov Stability ‐ Examples

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Dongjun Lee

Lyapunov Direct Theorem

x

V

negative‐definite

negativesemi‐definite

Dongjun Lee

Lyapunov Stability – Non‐autonomous System

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Dongjun Lee

Lyapunov Direct Theorem

decrescent condition

strictly‐increasing with (0)=0

Dongjun Lee

Passivity‐Based Control

feedforward (inverse dynamics) kinematic feedback

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Dongjun Lee

Passivity‐Based Tracking Control

dynamics utilized

Dongjun Lee

Passivity‐Based Stabilization

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Dongjun Lee

Invariance Principle

Dongjun Lee

Passivity‐Based Tracking Control

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Dongjun Lee

Barbalat’s Lemma

Dongjun Lee

Trajectory Tracking Convergence Proof

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Dongjun Lee

Trajectory Tracking Control ‐Theorem

Dongjun Lee

Alternative Passivity‐Based Control with r

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Dongjun Lee

Effect of Uncertainty ‐ I

Dongjun Lee

Effect of Uncertainty ‐ II

uncertainty

matching uncertainty: appears in same channel with control

negative‐definiteas before

want to make still negativeeven with uncertainty

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Dongjun Lee

Passivity‐Based Robust Control

matched uncertainty

Dongjun Lee

Boundary‐Layer Approximation

hold for all t

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Dongjun Lee

Ultimate Boundedness

Dongjun Lee

Passivity‐Based Adaptive Control

passivity (cf. CLF)

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Dongjun Lee

Convergence Proof

Dongjun Lee

Observability of LTV Systems

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Dongjun Lee

Observability Grammian

Dongjun Lee

Persistency of Excitation

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Dongjun Lee

Workspace EF Control

Dongjun Lee

Workspace Dynamics

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Dongjun Lee

Workspace Control

wrench sensing

Dongjun Lee

Workspace Control: Example