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http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1746| Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs | |
| DANIELA JUANITA LOPEZ ARAUJO Arturo Zavala Río Victor Santibanez José Fernando Reyes Cortés | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| https://doi.org/10.1007/s12555-012-9203-4 | |
| Adaptive control Bounded inputs Global regulation Output feedback Robot manipulators | |
| "In this paper, an output-feedback adaptive scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. Compared to the previous output-feedback adaptive approaches developed in a bounded-input context, the proposed free-of-velocity feedback controller guarantees the adaptive regulation objective: globally, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Moreover, the developed scheme is not restricted to the use of a specific saturation function to achieve the required boundedness, but may involve any one within a set of smooth and non-smooth (Lipschitz-continuous) bounded passive functions that include the hyperbolic tangent and the conventional saturation as particular cases. Experimental results corroborate the efficiency of the proposed scheme." | |
| Springer | |
| 2013 | |
| Artículo | |
| López-Araujo, D.J., Zavala-Río, A., Santibañez, V. et al. Int. J. Control Autom. Syst. (2013) 11: 105. https://doi.org/10.1007/s12555-012-9203-4 | |
| MATEMÁTICAS | |
| Versión revisada | |
| submittedVersion - Versión revisada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |
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| IntJControlAutomSyst11(2013)105.pdf | 401.59 kB | Adobe PDF | Visualizar/Abrir |