Globally asymptotic output feedback tracking of robot manipulators with actuator constraints
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In: IFAC-PapersOnLine, Vol. 53, No. 2, 2020, p. 9930-9935.
Research output: Journal contributions › Conference article in journal › Research › peer-review
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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 -