Global trajectory tracking through output feedback for robot manipulators with bounded inputs

Zavala‐Río, Arturo; Aguinaga-Ruiz, E.; Santibáñez, Víctor

doi:10.1002/asjc.324

Cited by 21 publications

(16 citation statements)

References 11 publications

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“…Such a condition has already been proposed in the literature (e.g., Santibanez and Kelly, 2001;Moreno-Valenzuela et al, 2010;Zavala-Rio et al, 2011). As far as the authors are aware, all the saturated output feedback tracking controllers proposed in the literature so far require this condition in order to achieve globality.…”

Section: Remarkmentioning

confidence: 94%

“…Other variations of this controller are proposed by Moreno-Valenzuela et al (2008a;2008b), who prove local asymptotic stability via singular perturbations theory. A generalization of the controller proposed by Santibanez and Kelly (2001) is designed by Zavala-Rio et al (2011). Uncertainty in robot parameters is another practical problem in robot manipulator control.…”

Section: Introductionmentioning

confidence: 99%

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An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

Yarza¹,

Santibáñez²,

Moreno–Valenzuela³

2013

International Journal of Applied Mathematics and Computer Science

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This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.

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Section: Remarkmentioning

confidence: 94%

Section: Introductionmentioning

confidence: 99%

An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

Yarza¹,

Santibáñez²,

Moreno–Valenzuela³

2013

International Journal of Applied Mathematics and Computer Science

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“…Many robust control and adaptive control approaches have been introduced to treat this control problem [1][2][3][4][5][6][7][8]. During the development of these classical robust/adaptive control algorithms, the implementation always requires a precise knowledge of the structure of the entire robot dynamic model.…”

Section: Introductionmentioning

confidence: 99%

Robust H_∞ Tracking Control of Uncertain Robotic Systems with Periodic Disturbances

Chang¹

2015

Asian Journal of Control

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This paper addresses the problem of designing robust tracking control for a large class of uncertain robotic systems. A more general model of the external disturbance is employed in the sense that the external disturbance can be expressed as the sum of a modeled disturbance and an unmodeled disturbance, for example, any periodic disturbance can be expressed in this general form. An adaptive neural network system is constructed to approximate the behavior of unknown robot dynamics. An adaptive control algorithm is designed to estimate the behavior of the modeled disturbance, and in turn the robust H ∞ control algorithm is required to attenuate the effects of the unmodeled disturbance only. Consequently, an intelligent adaptive/robust tracking control scheme is constructed such that an H ∞ tracking control is achieved in the sense that all the states and signals of the closed-loop system are bounded and the effect due to the unmodeled disturbance on the tracking error can be attenuated to any preassigned level. Finally, simulations are provided to demonstrate the effectiveness and performance of the proposed control algorithm.

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“…As pointed out in the textbook , p. 171: “saturation is probably the most commonly encountered nonlinearity in control engineering.” See for instance the papers and for methodologies to achieve control of systems involving input saturation. An example of a robot motion controller that takes into account the input constraint of a manipulator is given in , where global output feedback tracking control is guaranteed.…”

Section: Introductionmentioning

confidence: 99%

Robust Saturated PI Joint Velocity Control for Robot Manipulators

Moreno–Valenzuela

Santibáñez

2012

Asian Journal of Control

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It is well known that many industrial manipulators use an embedded linear proportional‐integral (PI) joint velocity controller to guarantee motion control through proper velocity commands. However, although this control scheme has been very successful in practice, not much attention has been paid to designing new PI velocity control structures. The problem of analyzing a saturated PI velocity joint velocity controller is addressed in this paper. By using the theory of singularly perturbed systems, the closed‐loop system is studied. The robot dynamics assumed in this paper take into account bounded time–varying disturbances which may include the friction at the joints. An experimental study in a planar two degrees‐of‐freedom direct‐drive robot is also presented, confirming the advantage of the new saturated PI joint velocity controller.

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Global trajectory tracking through output feedback for robot manipulators with bounded inputs

Cited by 21 publications

References 11 publications

An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

Robust H_∞ Tracking Control of Uncertain Robotic Systems with Periodic Disturbances

Robust Saturated PI Joint Velocity Control for Robot Manipulators

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Global trajectory tracking through output feedback for robot manipulators with bounded inputs

Cited by 21 publications

References 11 publications

An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

Robust H∞ Tracking Control of Uncertain Robotic Systems with Periodic Disturbances

Robust Saturated PI Joint Velocity Control for Robot Manipulators

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Robust H_∞ Tracking Control of Uncertain Robotic Systems with Periodic Disturbances