Globally asymptotic output feedback tracking of robot manipulators with actuator constraints

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Globally asymptotic output feedback tracking of robot manipulators with actuator constraints. / Su, Yuxin; Zheng, Chunhong; Mercorelli, Paolo.
in: IFAC-PapersOnLine, Jahrgang 53, Nr. 2, 2020, S. 9930-9935.

Publikation: Beiträge in ZeitschriftenKonferenzaufsätze in FachzeitschriftenForschungbegutachtet

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@article{2e824a2173ee44bb9a31b219c556d033,
title = "Globally asymptotic output feedback tracking of robot manipulators with actuator constraints",
abstract = "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.",
keywords = "Actuator constraints, Global asymptotic stability, Output feedback, Robot control, Tracking control, Engineering",
author = "Yuxin Su and Chunhong Zheng and Paolo Mercorelli",
year = "2020",
doi = "10.1016/j.ifacol.2020.12.2707",
language = "English",
volume = "53",
pages = "9930--9935",
journal = "IFAC-PapersOnLine",
issn = "2405-8971",
publisher = "Elsevier B.V.",
number = "2",
note = "21st IFAC World Congress - 2020 ; Conference date: 12-07-2020 Through 17-07-2020",

}

RIS

TY - JOUR

T1 - Globally asymptotic output feedback tracking of robot manipulators with actuator constraints

AU - Su, Yuxin

AU - Zheng, Chunhong

AU - Mercorelli, Paolo

PY - 2020

Y1 - 2020

N2 - 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.

AB - 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.

KW - Actuator constraints

KW - Global asymptotic stability

KW - Output feedback

KW - Robot control

KW - Tracking control

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85107720302&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2020.12.2707

DO - 10.1016/j.ifacol.2020.12.2707

M3 - Conference article in journal

AN - SCOPUS:85107720302

VL - 53

SP - 9930

EP - 9935

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8971

IS - 2

T2 - 21st IFAC World Congress - 2020

Y2 - 12 July 2020 through 17 July 2020

ER -

DOI