Global Trajectory Tracking Through Static Feedback for Robot Manipulators With Bounded Inputs

Leader–follower formation control of underactuated autonomous marine surface vehicles with limited torque

“…see Ref. Aguinaga-Ruiz et al (2009).□ Lemma 2. (Polycarpou, 1996;Yao, 1996): There exists a class of saturation functions s h ðÞ such that the inequalities x s h ðxÞ Z 0 and h x j jr xh s h ðνh x=μ t Þþμ t holds for any μ t 4 0, and 8 x; h A ℜ where ν is a constant which satisfies ν ¼ e À ðν þ 1Þ , i.e.…”

Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

“…Aguiñaga-Ruiz et al (2009) propose a tracking control scheme with static feedback to globally stabilize bounded input manipulators. Also, global adaptive regulators for bounded input systems and without a saturation avoidance restriction were developed; for example, in the work of López-Araujo et al (2013a), an SP-SD algorithm with gravity compensation is proposed, and in another paper the authors present an output feedback regulator without velocity dependence (López-Araujo et al, 2013b).…”

Saturated RISE Feedback Control for a Class of Second-Order Nonlinear Systems

“…[1]- [3]) and the more general tracking problem (cf. [4]- [10]). In [11], the authors developed an adaptive, full-state feedback controller to yield asymptotic tracking while compensating for unknown parametric uncertainties using multiple embedded hyperbolic saturation functions.…”

“…In [11], the authors developed an adaptive, full-state feedback controller to yield asymptotic tracking while compensating for unknown parametric uncertainties using multiple embedded hyperbolic saturation functions. The authors of [4] were able to extend the PID-based work of [1] to the tracking control problem by utilizing a general class of saturation functions to achieve a global uniform asymptotic tracking result for a linearly parameterizable system. The work was based on prior results in [12] and [5] which incorporated hyperbolic saturation functions into the saturated PD+ control strategy developed in [6].…”

“…The work was based on prior results in [12] and [5] which incorporated hyperbolic saturation functions into the saturated PD+ control strategy developed in [6]. The works of [4], [5], [12] exploit saturation-avoidance strategies. Anti-windup schemes have been developed in results such as [13] to compensate for saturation nonlinearities in nonlinear Euler-Lagrange systems using PID-like control structures.…”