Title :
Global stabilization of anti-windup PID position control for euler-lagrange systems with actuator saturation
Author :
Kanamori, Mitsuru
Author_Institution :
Maizuru Nat. Coll. of Technol., Kyoto, Japan
Abstract :
Using an output saturation function of the error vector (difference between the target vector and the revolution angle vector), globally asymptotic stability of any equilibrium state can be achieved for an anti-windup PID position control of Euler-Lagrange systems with actuator saturation. The control performance is verified by numerical simulations and experiments on a two-link robot arm.
Keywords :
asymptotic stability; control nonlinearities; manipulators; numerical analysis; position control; three-term control; vectors; Euler-Lagrange robot system; actuator saturation; anti-windup PID position control; error vector; global stabilization; globally asymptotic stability; numerical simulation; output saturation function; two-link robot arm; Actuators; Asymptotic stability; Convex functions; Gravity; Pi control; Position control; Robots;
Conference_Titel :
Automation Science and Engineering (CASE), 2011 IEEE Conference on
Conference_Location :
Trieste
Print_ISBN :
978-1-4577-1730-7
Electronic_ISBN :
2161-8070
DOI :
10.1109/CASE.2011.6042402
