Title :
High performance anti-windup for robot manipulators
Author :
Morabito, Federico ; Teel, Andrew R. ; Zaccarian, Luca
Author_Institution :
Dipartimento di Informatica, Sistemi e Produzione, University of Rome, Tor Vergata, 00133 Rome, Italy
Abstract :
In this paper we provide a high performance solution to the anti-windup problem for control systems on saturated fully actuated robot manipulators. Based on the preliminary work of [10], we provide here improved anti-windup laws based on simple and intuitive parameter tuning. Global asymptotic (and local exponential) stability of the arising closed-loops is formally proven and demonstrated on a simulation example. The simulation example also shows dramatic improvements as compared to previous results.
Keywords :
Actuators; Closed loop systems; Manipulators; Trajectory; Windup; Anti-windup; input saturation; robotics;
Conference_Titel :
European Control Conference (ECC), 2003
Conference_Location :
Cambridge, UK
Print_ISBN :
978-3-9524173-7-9
