Globally bounded tracking controllers for rigid robot systems

Abstract

In this note we consider tracking control of rigid robot systems under input constraints. Using the combination of two controllers we are able to obtain globally asymptotically stable closed-loop error-dynamics while keeping the applied actuator torques within in advance specified bounds. This idea is also exploited successfully in case only position measurements are available, or when parameter uncertainties call for an adaptive control scheme.

Triangular form for Euler–Lagrange systems with application to the global output tracking control

“…The results in the present paper can be applied for Euler-Lagrange systems without a uniform boundedness of inertia matrix [1]. A challenging and interesting future research topic is to derive necessary and sufficient conditions for the existence of a smooth map θ whose Jacobian satisfies (11).…”

“…A drawback was that due to those functions, the effective control could peak as an exponential. A globally bounded alternative for the general case of n degrees of freedom has been firstly presented in [11], but based on a discontinuous controller. The result of [12] has been extended to the case of n degrees of freedom in [23], in one direction.…”

Global asymptotic adaptive tracking of robot manipulators without velocity measurements

“…In [12]- [14], adaptive output feedback controllers were presented and yielded semiglobal asymptotic link position tracking. The schemes that taking into account the actuator constraints and producing the semiglobal output feedback tracking are reported in [15]- [18].…”

A New Separation Result for Euler-Lagrange-Like Systems

“…This problem for EL systems has been motivating quite a lot of research for the last years (see e.g. (Lefeber and Nijmeijer, 1997;Battilotti et al, 1997;Besançon, 2000;Loria and Panteley, 1999) and references therein). Recently, an interesting solution for rigid robots has been proposed in (Zhang et al, 1997): although the design procedure in this paper is constructive, very little insight is given into the tracking problem in its generality.…”