Title :
Global asymptotic saturated output feedback control of robot manipulators
Author :
Su, Yuxin ; Parra-Vega, Vicente
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;
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
DOI :
10.1109/WCICA.2008.4594498
