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http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1731| Global trajectory tracking through static feedback for robot manipulators with bounded inputs | |
| Emeterio Aguiñaga Ruiz Arturo Zavala Río Victor Santibanez José Fernando Reyes Cortés | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| https://doi.org/10.1109/TCST.2009.2013938 | |
| Bounded inputs Global stabilization Robot control Saturations Static feedback Trajectory tracking | |
| "In this work, two globally stabilizing bounded control schemes for the tracking control of robot manipulators with saturating inputs are proposed. They may be seen as extensions of the so-called PD+ algorithm to the bounded input case. With respect to previous works on the topic, the proposed approaches give a global solution to the problem through static feedback. Moreover, they are not defined using a specific sigmoidal function, but any one on a set of saturation functions. Consequently, each of the proposed schemes actually constitutes a family of globally stabilizing bounded controllers. Furthermore, the bound of such saturation functions is explicitly considered in their definition. Hence, the control gains are not tied to satisfy any saturation-avoidance inequality and may consequently take any positive value, which may be considered beneficial for performance-adjustment/improvement purposes. Further, a class of desired trajectories that may be globally tracked avoiding input saturation is completely characterized. For both proposed control laws, global uniform asymptotic stabilization of the closed-loop system solutions towards the prespecified desired trajectory is proved through a strict Lyapunov function. The efficiency of the proposed schemes is corroborated through experimental results." | |
| IEEE | |
| 2009 | |
| Artículo | |
| E. Aguinaga-Ruiz, A. Zavala-Rio, V. Santibanez and F. Reyes, "Global Trajectory Tracking Through Static Feedback for Robot Manipulators With Bounded Inputs," in IEEE Transactions on Control Systems Technology, vol. 17, no. 4, pp. 934-944, July 2009. doi: 10.1109/TCST.2009.2013938 | |
| MATEMÁTICAS | |
| Versión revisada | |
| submittedVersion - Versión revisada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |
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| IEEETransactionsControlSystemsTechnology17(2009)934.pdf | 358.72 kB | Adobe PDF | Visualizar/Abrir |