Global Saturated Regulator with Variable Gains for Robot Manipulators

Authors

  • Brandon Sánchez-García Benémerita Universidad Autónoma de Puebla
  • Fernando Reyes-Cortés Benemérita Universidad Autónoma de Puebla
  • Basil Al-Hadithi Universidad Politécnica de Madrid
  • Olga Félix-Beltrán Benemérita Universidad Autónoma de Puebla

DOI:

https://doi.org/10.18196/jrc.26139

Keywords:

Saturated controllers, global asymptotic stability, variable gains, self-tuning, robot manipulators

Abstract

In this paper, we propose a set of saturated controllers with variable gains to solve the regulation problem for robot manipulators in joint space. These control schemes deliver torques inside the prescribed limits of servomotors. The gamma of variable gains is formed by continuous, smooth, and differentiable functions of the joint position error and velocity of the manipulator. A strict Lyapunov function is proposed to demonstrate globally asymptotic stability of the closed-loop equilibrium point. Finally, the functionality and performance of the proposal are illustrated via simulation results and comparative analysis against Proportional-Derivative (PD) control scheme on a two-degrees-freedom direct-drive robot manipulator.

References

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Published

2021-11-08

How to Cite

[1]
B. Sánchez-García, F. Reyes-Cortés, B. Al-Hadithi, and O. Félix-Beltrán, “Global Saturated Regulator with Variable Gains for Robot Manipulators”, J Robot Control (JRC), vol. 2, no. 6, pp. 571–581, Nov. 2021.

Issue

Vol. 2 No. 6 (2021): November

Section

Articles

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