A single PD plus gravity compensation control for global asymptotic regulation of robot manipulators with actuator constraints
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). IEEE - Institute of Electrical and Electronics Engineers Inc., 2017. p. 130-135.
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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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 -