Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs

López-Araujo, Daniela Juanita; Zavala‐Río, Arturo; Santibáñez, Víctor; Reyes, Fernando

doi:10.1007/s12555-012-9203-4

Cited by 26 publications

(16 citation statements)

References 22 publications

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“…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). They also use generalized saturation functions to design an adaptive controller for global control of robot manipulators with saturated inputs (López-Araujo et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

Rodríguez-Liñán

Mendoza

Bonilla

et al. 2017

International Journal of Applied Mathematics and Computer Science

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A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.

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Section: Introductionmentioning

confidence: 99%

Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

Rodríguez-Liñán

Mendoza

Bonilla

et al. 2017

International Journal of Applied Mathematics and Computer Science

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“…Therefore, control input saturation is a practical issue of relevance to controller design for parallel robots. The control performance will seriously degrade or the actuators will be damaged if the limitations of the control inputs are not considered appropriately in the algorithm design [11,12]. In serial robot manipulator control, saturation functions are used in the controller design to avoid control input limitations [13,14].…”

Section: Introductionmentioning

confidence: 99%

A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs

Zhao

Spurgeon

Liang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 231 (4). pp. 271-281. ISSN 0959-6518 Available from: http://eprints.uwe.ac.uk/31842We recommend you cite the published version. The publisher's URL is: http://dx.doi.org/10.1177/0959651817698333Refereed: Yes (no note) Disclaimer UWE has obtained warranties from all depositors as to their title in the material deposited and as to their right to deposit such material. UWE makes no representation or warranties of commercial utility, title, or fitness for a particular purpose or any other warranty, express or implied in respect of any material deposited. UWE makes no representation that the use of the materials will not infringe any patent, copyright, trademark or other property or proprietary rights. UWE accepts no liability for any infringement of intellectual property rights in any material deposited but will remove such material from public view pending investigation in the event of an allegation of any such infringement. PLEASE SCROLL DOWN FOR TEXT. A New Terminal Converging AbstractIn this study, a new terminal converging adaptive control approach with bounded control inputs is developed for the 6 degree of freedom (DOF) parallel robot manipulator. The non-smooth feedback control principle is combined with particular bounded functions to define both the control input and associated adaptive law. TheLyapunov method is used to present a stability analysis in order to prove that the error trajectories are semi-globally asymptotically stable. Numerical simulation results relating to a 6 DOF parallel robot are presented to validate the effectiveness of the proposed approach and to compare the performance obtained with other candidate control schemes. It is shown that the proposed scheme achieves more rapid error convergence and exhibits improved robustness whilst guaranteeing that the control signal remains within known bounds.Keywords: Non-smooth control, Saturation control, Robot manipulator, Parallel robot IntroductionThe 6 DOF parallel robot manipulator has some superior properties when compared with its serial counterpart such as higher accuracy, higher stiffness and higher load-carrying capacity [1,2]. By virtue of these merits, they can be used as actuators for high precision operation of heavy payload such as a flight simulator, an astronomical telescope or machine-tools [3,4]. Such applications require high performance control, which means the designed control algorithm should achieve high precision and a fast convergence speed.From the point of view of systems and control, the 6 DOF parallel robot manipulator is a typical multi-input multi-output (MIMO), strongly coupled nonlinear system. Due to the complex dynamics and application environment, modeling error cannot be avoided. It is very challenging to design high performance control algorithms and this has attracted extens...

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“…The methods of differential geometry allowed the development of efficient techniques for the analysis and synthesis of such systems. The series of publications [8][9][10][11][12], which considered the problem of nonlinear transformation of a linear system by changing the coordinates (local diffeomorphism) and using feedback [10][11][12][13][14][15][16][17][18][19] considerably contributed to the development of the techniques mentioned.…”

Section: Introductionmentioning

confidence: 99%

Application of Input–State of the System Transformation for Linearization of Selected Electrical Circuits

Zawadzki¹,

Różowicz

2016

Journal of Electrical Engineering

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The paper presents a transformation of nonlinear electric circuit into linear one through changing coordinates (local diffeomorphism) with the use of closed feedback loop. The necessary conditions that must be fulfilled by nonlinear system to enable carrying out linearizing procedures are presented. Numerical solutions of state equations for the nonlinear system and equivalent linearized system are included.

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Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs

Cited by 26 publications

References 22 publications

Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs

Application of Input–State of the System Transformation for Linearization of Selected Electrical Circuits

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