Global Positioning of Robot Manipulators With Mixed Revolute and Prismatic Joints

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.

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“…Note, by recalling equations (2), that the defined scalar function can be rewritten as ðq 1 ; q 2 ; . .…”

Section: Closed-loop Analysismentioning

confidence: 99%

“…[1][2][3] This is mainly due to the practical certainty on the achievement of the regulation goal experienced through its simple linear structure. 4 A simple structure that avoids involving the system model and exact knowledge of the system parameters.…”

Section: Introductionmentioning

confidence: 99%

Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs

Zavala‐Río

Mendoza

Santibáñez

et al. 2016

International Journal of Advanced Robotic Systems

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“…A simple model-free decoupled PID feedback controller with appropriate control gains achieves the constant desired position without any steady-state error. This is the main reason why PID controllers are still used in the regulation of nonlinear mechanical systems [1], [2], [3]. However, PID controllers cannot render asymptotic stability for tracking tasks of mechanical systems.…”

Section: Introductionmentioning

confidence: 99%

Robust decentralized global asymptotic tracking control of a class of nonlinear mechanical systems

Kasač

Žilić

Milić

et al. 2016

2016 American Control Conference (ACC)

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Abstract-In this paper, a RISE type of tracking controllers for a class of nonlinear mechanical systems is proposed. The proposed chattering-free controller provides global asymptotic tracking in the presence of external disturbances. The proof of global asymptotic stability is based on a novel approach to the construction of a Lyapunov function which is parameterized by a time-varying function of reference and disturbance vector. The explicit conditions on the controller gains to ensure global asymptotic tracking are obtained. The simulation results on a system of three inverted pendulums interconnected by two springs illustrate the performances of the proposed controller.

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“…The traditional approach for introducing integral action is to augment integrators with the system and design feedback control to guarantee the stability of the augmented Chin Su Kim and Kang Woong Lee are with the School of Electronics, Telecommunication and Computer Engineering, Korea Aerospace University, 200-1, Hwajeon-dong, Deogyang-gu, Goyang-city, Gyeonggi-do, 412-791, Korea (corresponding author to provide phone: +82-2-300-0136; fax: +82-2-3159-9257; e-mail: kimcs78@paran.com, kwlee@kau.ac.kr). system [5]. In this case, integral control guarantees asymptotic regulation, but it may expend degradation of transient performance such as large overshoot or oscillation.…”

Section: Introductionmentioning

confidence: 99%

Robust control of robot manipulators using dynamic compensator

Kim

Lee

2009

2009 IEEE International Conference on Control and Automation

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In this paper, a new robust feedback controller for trajectory control of n-link robot manipulators with parametric uncertainties is suggested. The proposed controller using dynamic compensation scheme leads to improvement in transient response while achieving asymptotic regulation in the presence of parametric uncertainties. The ultimate uniform boundedness and asymptotic regulation of the closed-loop system is proved using the Lyapunov method. The performance improvement by the proposed method is demonstrated with experiments on a 5 link SAMSUNG FARA industrial robot with two degree of freedom.)

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Global Positioning of Robot Manipulators With Mixed Revolute and Prismatic Joints

Cited by 36 publications

References 16 publications

Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs

Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs

Robust decentralized global asymptotic tracking control of a class of nonlinear mechanical systems

Robust control of robot manipulators using dynamic compensator

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