Global trajectory tracking through output feedback for robot manipulators with bounded inputs
"In this work, a globally stabilizing output feedback scheme for the trajectory tracking of robot manipulators with bounded inputs is proposed. It achieves the motion control objective avoiding input saturation and excluding velocity measurements. Moreover, it is not defined using a specific si...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2011 |
| País: | México |
| Institución: | Instituto Potosino de Investigación Científica y Tecnológica |
| Repositorio: | Repositorio Institucional del IPICYT |
| OAI Identifier: | oai:ipicyt.repositorioinstitucional.mx:1010/1704 |
| Acceso en línea: | http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1704 |
| Access Level: | acceso abierto |
| Palabra clave: | info:eu-repo/classification/Autor/Robot control info:eu-repo/classification/Autor/Global tracking info:eu-repo/classification/Autor/output feedback info:eu-repo/classification/Autor/Bounded inputs info:eu-repo/classification/cti/1 info:eu-repo/classification/cti/12 |
| Sumario: | "In this work, a globally stabilizing output feedback scheme for the trajectory tracking of robot manipulators with bounded inputs is proposed. It achieves the motion control objective avoiding input saturation and excluding velocity measurements. Moreover, it is not defined using a specific sigmoidal function, but any one on a set of saturation functions. Consequently, the proposed scheme actually constitutes a family of globally stabilizing output feedback bounded controllers. Furthermore, the control gains are not tied to satisfy any saturation?avoidance inequality and may consequently take any positive value, which may be considered beneficial for performance adjustment/improvement purposes. Further, a class of desired trajectories that may be globally tracked avoiding input saturation and excluding velocity measurements is completely characterized. Global asymptotic stabilization of the closed-loop system solutions towards the pre-specified desired trajectory is proved through a strict Lyapunov function. The efficiency of the proposed scheme is corroborated through experimental results." |
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