Global trajectory tracking through static feedback for robot manipulators with input saturations

In this work, two globally stabilizing bounded controllers for the tracking control of robot manipulators with saturating inputs are proposed. They may be seen as extensions of the so-called PD+ algorithm to the bounded input case. With respect to previous works, our approaches give a global solution to the problem through static feedback. Moreover, they are not defined using a specific sigmoidal function, but any one on a set of saturating functions. Furthermore, the bound of such functions is explicitly considered in their definition. Hence, the control gains are not tied to satisfy any saturation-avoidance inequality and may consequently take any positive value. The efficiency of the proposed schemes is corroborated through experimental results.