Regular Paper

International Journal of Control, Automation and Systems 2013; 11(1): 105-115

Published online January 26, 2013

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

© The International Journal of Control, Automation, and Systems

Output-Feedback Adaptive Control for the Global Regulation of Robot Manipulators with Bounded Inputs

Daniela J. López-Araujo, Arturo Zavala-Río*, Víctor Santibáñez, and Fernando Reyes

Potosino de Investigación Científica y Tecnológica

Abstract

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 adap-tive approaches developed in a bounded-input context, the proposed free-of-velocity feedback control-ler 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 hy-perbolic tangent and the conventional saturation as particular cases. Experimental results corroborate the efficiency of the proposed scheme.

Keywords Adaptive control, bounded inputs, global regulation, output feedback, robot manipulators.

Article

Regular Paper

International Journal of Control, Automation and Systems 2013; 11(1): 105-115

Published online February 1, 2013 https://doi.org/10.1007/s12555-012-9203-4

Copyright © The International Journal of Control, Automation, and Systems.

Output-Feedback Adaptive Control for the Global Regulation of Robot Manipulators with Bounded Inputs

Daniela J. López-Araujo, Arturo Zavala-Río*, Víctor Santibáñez, and Fernando Reyes

Potosino de Investigación Científica y Tecnológica

Abstract

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 adap-tive approaches developed in a bounded-input context, the proposed free-of-velocity feedback control-ler 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 hy-perbolic tangent and the conventional saturation as particular cases. Experimental results corroborate the efficiency of the proposed scheme.

Keywords: Adaptive control, bounded inputs, global regulation, output feedback, robot manipulators.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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