TY - CHAP

T1 - A single PD plus gravity compensation control for global asymptotic regulation of robot manipulators with actuator constraints

AU - Su, Yuxin

AU - Zheng, Chunhong

AU - Mercorelli, Paolo

N1 - Conference code: 15

PY - 2017/8/21

Y1 - 2017/8/21

N2 - This paper addresses the problem of global asymptotic regulation for robot manipulators subject to actuator constraints and a single saturation function for every joint. A saturated proportional-derivative (PD) plus gravity compensation (PD+) control is designed. The proposed saturated PD+ (SPD+) controller is conceived within only a single saturation function for every joint. The benefit of such design is that it does not need to elaborately discriminate the terms that shall be bounded, and thus it is ready for implementation with an improved performance. Lyapunov theory is employed to show global asymptotic stability. Simulations are performed to verify the improved performance of the proposed approach.

AB - This paper addresses the problem of global asymptotic regulation for robot manipulators subject to actuator constraints and a single saturation function for every joint. A saturated proportional-derivative (PD) plus gravity compensation (PD+) control is designed. The proposed saturated PD+ (SPD+) controller is conceived within only a single saturation function for every joint. The benefit of such design is that it does not need to elaborately discriminate the terms that shall be bounded, and thus it is ready for implementation with an improved performance. Lyapunov theory is employed to show global asymptotic stability. Simulations are performed to verify the improved performance of the proposed approach.

KW - Engineering

KW - Actuators

KW - Asymptotic stability

KW - Flexible manipulators

KW - Industrial robots

KW - Intelligent mechatronics

KW - modular robots

KW - Robot applications

UR - http://www.scopus.com/inward/record.url?scp=85028751043&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/cac42dc2-b7ec-3299-9e57-23081a09852a/

U2 - 10.1109/AIM.2017.8014007

DO - 10.1109/AIM.2017.8014007

M3 - Article in conference proceedings

AN - SCOPUS:85028751043

SN - 9781509059980

SP - 130

EP - 135

BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE International Conference on Advanced Intelligent Mechatronics 2017

Y2 - 3 July 2017 through 7 July 2017

ER -