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http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1405| Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs | |
| ARTURO ZAVALA RIO Victor Santibanez Fernando Reyes_Cortes | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| https://doi.org/10.1177/1729881416663368 | |
| Output feedback PID control Global stabilization Robot manipulators Bounded inputs Saturation | |
| "An output-feedback proportional integral derivative-type control scheme for the global regulation of robot manipulators with constrained inputs is proposed. It guarantees the global stabilization objective—avoiding input saturation—releasing the feedback not only from the exact knowledge of the system structure and parameter values but also from velocity measurements. With respect to previous approaches of the kind, the proposed controller is expressed in a generalized form whence multiple saturating structures may be adopted, thus enlarging the degree of design flexibility. Furthermore, experimental tests on a two-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed scheme." | |
| SAGE Publications | |
| 2016-09 | |
| Artículo | |
| Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs Arturo Zavala-Rio, Marco Mendoza, Victor Santibanez, Fernando Reyes International Journal of Advanced Robotic Systems https://doi.org/10.1177/1729881416663368 First Published October 6, 2016 | |
| MATEMÁTICAS | |
| Versión publicada | |
| publishedVersion - Versión publicada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |
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| IntJAdvRoboticSys13(2013)68.pdf | 605.38 kB | Adobe PDF | Visualizar/Abrir |