Global asymptotic saturated output feedback control of robot manipulators

Author

Su, Yuxin ; Parra-Vega, Vicente

fYear

2008

fDate

25-27 June 2008

Firstpage

3445

Lastpage

3450

Abstract

This paper addresses the global output feedback regulation problem for robot manipulators in the presence of actuator constraints, and a very simple bounded proportional-derivative (PD) plus desired gravity compensation scheme is formulated as solution to this problem. The global asymptotic stability of the closed-loop system is proved with Lyapunovpsilas direct method. Simulations performed on a two-degrees-of-freedom (2-DOF) manipulator demonstrate the effectiveness of the proposed approach.

Keywords

Lyapunov methods; PD control; actuators; asymptotic stability; closed loop systems; feedback; manipulators; Lyapunov direct method; actuator constraint; asymptotic stability; closed-loop system; global asymptotic saturated output feedback control; gravity compensation scheme; proportional-derivative control; robot manipulator; two-degrees-of-freedom manipulator; Actuators; Control systems; Error correction; Gravity; Manipulators; Output feedback; PD control; Programmable control; Robot control; Robotics and automation; Robot control; actuator constraints; global asymptotic stability; nonlinear proportional-derivative (NPD) control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4594498

Filename

4594498