Título

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

Autor

DANIELA JUANITA LOPEZ ARAUJO

Arturo Zavala Río

Victor Santibanez

José Fernando Reyes Cortés

Nivel de Acceso

Acceso Abierto

Licencia

http://creativecommons.org/licenses/by-nc-nd/4.0

Identificador alterno

doi: https://doi.org/10.1007/s12555-012-9203-4

Materias

Adaptive control - (AUTOR) Bounded inputs - (AUTOR) Global regulation - (AUTOR) Output feedback - (AUTOR) Robot manipulators - (AUTOR) CIENCIAS FÍSICO MATEMÁTICAS Y CIENCIAS DE LA TIERRA - (CTI) MATEMÁTICAS - (CTI) MATEMÁTICAS - (CTI)

Resumen o descripción

"In this paper, an output-feedback adaptive scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. Compared to the previous output-feedback adaptive approaches developed in a bounded-input context, the proposed free-of-velocity feedback controller guarantees the adaptive regulation objective: globally, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Moreover, the developed scheme is not restricted to the use of a specific saturation function to achieve the required boundedness, but may involve any one within a set of smooth and non-smooth (Lipschitz-continuous) bounded passive functions that include the hyperbolic tangent and the conventional saturation as particular cases. Experimental results corroborate the efficiency of the proposed scheme."

Editor

Springer

Fecha de publicación

2013

Tipo de publicación

Artículo

Versión de la publicación

Versión enviada

Recurso de información

http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1746

Formato

application/pdf

Sugerencia de citación

López-Araujo, D.J., Zavala-Río, A., Santibañez, V. et al. Int. J. Control Autom. Syst. (2013) 11: 105. https://doi.org/10.1007/s12555-012-9203-4

Repositorio Orígen

Repositorio IPICYT

Descargas

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