Título
Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs
Autor
ARTURO ZAVALA RIO
Victor Santibanez
Fernando Reyes_Cortes
Nivel de Acceso
Acceso Abierto
Identificador alterno
doi: https://doi.org/10.1177/1729881416663368
Materias
Resumen o descripción
"An output-feedback proportional integral derivative-type control scheme for the global regulation of robot manipulators with constrained inputs is proposed. It guarantees the global stabilization objective—avoiding input saturation—releasing the feedback not only from the exact knowledge of the system structure and parameter values but also from velocity measurements. With respect to previous approaches of the kind, the proposed controller is expressed in a generalized form whence multiple saturating structures may be adopted, thus enlarging the degree of design flexibility. Furthermore, experimental tests on a two-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed scheme."
Editor
SAGE Publications
Fecha de publicación
septiembre de 2016
Tipo de publicación
Artículo
Versión de la publicación
Versión publicada
Recurso de información
Formato
application/pdf
Sugerencia de citación
Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs Arturo Zavala-Rio, Marco Mendoza, Victor Santibanez, Fernando Reyes International Journal of Advanced Robotic Systems https://doi.org/10.1177/1729881416663368 First Published October 6, 2016
Repositorio Orígen
Repositorio IPICYT
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