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

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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.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
Number of pages6
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date21.08.2017
Pages130-135
ISBN (print)9781509059980
ISBN (electronic)9781509059980
DOIs
Publication statusPublished - 21.08.2017
EventIEEE International Conference on Advanced Intelligent Mechatronics 2017 - München, Germany
Duration: 03.07.201707.07.2017
Conference number: 15
http://www.ieee-ras.org/component/rseventspro/event/948-aim-2017-ieee-international-conference-on-advanced-intelligent-mechatronics
http://www.ieee-ras.org/component/rseventspro/event/948-aim-2017-ieee-international-conference-on-advanced-intelligent-mechatronics

    Research areas

  • Engineering - Actuators, Asymptotic stability, Flexible manipulators, Industrial robots, Intelligent mechatronics, modular robots, Robot applications

DOI

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