Globally asymptotic output feedback tracking of robot manipulators with actuator constraints

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Authors

This paper revisits the problem of asymptotic tracking for robot manipulators with actuator constraints and position measurements only. A new dynamic nonlinear filter is first proposed and then a saturated output feedback proportional-derivative (PD) control is constructed. Lyapunov's direct method is employed to show global asymptotic stability (GAS). Explicit conditions on control gains ensuring GAS and avoidance of actuator constraints are obtained. This is accomplished by selecting control gains a priori. Advantage of the proposed approach is that it can assure GAS and satisfy actuator constraints. Numerical simulations are presented to demonstrate the improved performance of the proposed approach.

OriginalspracheEnglisch
ZeitschriftIFAC-PapersOnLine
Jahrgang53
Ausgabenummer2
Seiten (von - bis)9930-9935
Anzahl der Seiten6
ISSN2405-8971
DOIs
PublikationsstatusErschienen - 2020
Veranstaltung21st IFAC World Congress - 2020 - Berlin, Deutschland
Dauer: 12.07.202017.07.2020

DOI

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