Title :
A new asymptotic tracking approach for robot manipulators with actuator saturation
Author :
Yuxin Su ; Swevers, Jan
Author_Institution :
Dept. of Mech. Eng., KU Leuven, Leuven-Heverlee, Belgium
fDate :
Feb. 27 2013-March 1 2013
Abstract :
This paper revisits the asymptotic tracking of robot manipulators with actuator constraints. Different from the existing control methods, the proposed saturated control algorithm is developed based on a proportional-derivative (PD) feedback control scheme with computed feedforward of robot dynamics. The benefit of the developed design approach is that it offers a new bound to shape the actuator signal that is less conservative than bounds specified by previously developed saturated control schemes, hence allowing more freedom to design the feedback gains for the given actuator constraints. Lyapunov´s direct method is used to prove semi-global asymptotic stability. Simulations performed on a two-degree-of-freedom (DOF) manipulator are provided to illustrate the effectiveness and improved performance of the proposed approach.
Keywords :
Lyapunov methods; PD control; actuators; asymptotic stability; control system synthesis; feedback; feedforward; manipulator dynamics; position control; Lyapunov direct method; PD feedback control scheme; actuator saturation; actuator signal; asymptotic tracking approach; design approach; feedback gain design; feedforward; proportional-derivative feedback control scheme; robot dynamics; robot manipulator; saturated control algorithm; semiglobal asymptotic stability; two-degree-of-freedom manipulator; Actuators; Asymptotic stability; Manipulator dynamics; PD control; Torque;
Conference_Titel :
Mechatronics (ICM), 2013 IEEE International Conference on
Conference_Location :
Vicenza
Print_ISBN :
978-1-4673-1386-5
Electronic_ISBN :
978-1-4673-1387-2
DOI :
10.1109/ICMECH.2013.6519119