NDLI: A saturated PD plus scheme for asymptotic tracking of robot manipulators

Content Provider	IEEE Xplore Digital Library
Author	Yuxin Su Chunhong Zheng
Copyright Year	2009
Description	Author affiliation: School of Electro-Mechanical Engineering, Xidian University, Xi'an 710071, China (Yuxin Su) \|\| School of Electronic Engineering, Xidian University, Xi'an 710071, China (Chunhong Zheng)
Abstract	This paper studies the asymptotic tracking of robot manipulators subject to actuator saturation. A saturated proportional-derivative (SPD) plus (SPD+) scheme is developed based on the commonly used linear proportional-derivative (PD) plus computed feedforward of robot dynamics (PD+). The closed-loop system formed by the proposed SPD+ controller and the robot system is shown to be semiglobal asymptotically stable with Lyapunov's direct method. The fact that the proposed controller can be a priori bounded is a significant added advantage. The practical implication is that the actuators can be appropriately sized without an ad hoc saturation scheme to remove the possibility of actuator failure due to excessive torque input levels. Benefiting from a new saturation function, a much improved performance is obtained over the commonly used hyperbolic tangent function. Simulations performed on a two-degree-of-freedom (DOF) robot are presented to illustrate the effectiveness and improved performance of the proposed approach.
Starting Page	853
Ending Page	858
File Size	154749
Page Count	6
File Format	PDF
ISBN	9781424447749
DOI	10.1109/ROBIO.2009.5420561
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-19
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Actuators Asymptotic stability Manipulator dynamics Output feedback Control systems Torque control Trajectory Friction Biomimetics
Content Type	Text
Resource Type	Article

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