Globally asymptotic output feedback tracking of robot manipulators with actuator constraints

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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.

Original languageEnglish
Issue number2
Pages (from-to)9930-9935
Number of pages6
Publication statusPublished - 2020
Event21st IFAC World Congress - 2020 - Berlin, Germany
Duration: 12.07.202017.07.2020

    Research areas

  • Actuator constraints, Global asymptotic stability, Output feedback, Robot control, Tracking control
  • Engineering