Title :
Results on anti-windup design for Euler-Lagrange systems
Author :
Morabito, Federico ; Teel, Andrew R. ; Zaccarian, Luca
Author_Institution :
Dipt. di Informatica, Sistemi e Produzione, Rome Univ., Italy
Abstract :
In this paper we summarize the anti-windup construction suggested by Teel et al. (1997) for Euler-Lagrange systems and apply it to a SCARA robot controlled by a windup-prone decoupling PID controller. It is shown through simulation that the anti-windup design guarantees the local decoupled linear performance in. addition to global set-point tracking.
Keywords :
asymptotic stability; closed loop systems; nonlinear systems; robot dynamics; three-term control; tracking; Euler-Lagrange systems; PID controller; SCARA robot; anti-windup design; asymptotic stability; closed-loop system; set-point tracking; windup-prone decoupling; Automatic control; Control systems; Ear; Electrical equipment industry; Industrial control; Optimal control; Robot control; Robotics and automation; Stability; Three-term control;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014243
