In this work, a globally stabilizing bounded controller for the trajectory tracking of robot manipulators with saturating inputs is proposed. It may be seen as an extension of the so-called PD+ algorithm to the bounded input case. With respect to previous works, our approach gives a global solution to the problem through a static controller. Moreover, it is not defined using a specific sigmoidal function, but any one on a set of saturating functions. Furthermore, the bound of such functions is explicitly considered in their definition. Hence, the control gains are not tied to satisfy any saturation-avoidance inequality and may consequently take any positive value. The efficiency of the proposed scheme is corroborated through numerical simulations.
Globally Stabilizing Motion Control for Robot Manipulators With Bounded Inputs Through a PD+ Type SchemeWith Saturating-P and Saturating-D Actions
2007-09-01
298233 byte
Conference paper
Electronic Resource
English
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