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Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs
| Content Provider | SAGE Publishing |
|---|---|
| Author | Zavala-Rio, Arturo Mendoza, Marco Santibanez, Victor Reyes, Fernando |
| Copyright Year | 2016 |
| Abstract | An output-feedback proportional integral derivative-type control scheme for the global regulation of robot manipulators with constrained inputs is proposed. It guarantees the global stabilization objective—avoiding input saturation—releasing the feedback not only from the exact knowledge of the system structure and parameter values but also from velocity measurements. With respect to previous approaches of the kind, the proposed controller is expressed in a generalized form whence multiple saturating structures may be adopted, thus enlarging the degree of design flexibility. Furthermore, experimental tests on a two-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed scheme. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881416663368?download=true |
| ISSN | 17298806 |
| Issue Number | 5 |
| Volume Number | 13 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881416663368 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2016-10-06 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2016 |
| Subject Keyword | PID control bounded inputs saturation global stabilization Output feedback robot manipulators |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
