Title :
Static anti-windup controller design for planar 2DOF robot manipulators with actuator saturation
Author :
Kanamori, Mitsuru
Author_Institution :
Maizuru Nat. Coll. of Technol., Maizuru, Japan
Abstract :
A static anti-integrator-windup controller design method is proposed for zero-gravity planar robot manipulators. The asymptotic stability is achieved using a simple static anti-windup gain matrix for PI or PID controllers. The control performance is verified by numerical simulations and experiments on a two-link planar 2DOF robot arm.
Keywords :
PI control; actuators; asymptotic stability; control system synthesis; manipulator dynamics; matrix algebra; three-term control; PI controller; PID controller; actuator saturation; asymptotic stability; static antiintegrator-windup controller design; static antiwindup gain matrix; two-link planar 2DOF robot arm; zero-gravity planar robot manipulator; Actuators; Asymptotic stability; Design methodology; Manipulators; Numerical simulation; Potential energy; Robotics and automation; Robots; Three-term control; Transmission line matrix methods;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152205
