A saturated PD plus scheme for asymptotic tracking of robot manipulators

Authors:
Yuxin Su;Chunhong Zheng
Affiliations:
School of Electro-Mechanical Engineering, Xidian University, Xi'an, China;School of Electronic Engineering, Xidian University, Xi'an, China
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

Citing 7
Cited 0

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Control Theory of Nonlinear Mechanical Systems

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On a performance-robustness trade-off intrinsic to the natural anti-windup problem

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Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators

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Technical Communique: Global output feedback tracking control for a class of Lagrangian systems

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Abstract

This paper studies the asymptotic tracking of robot manipulators subject to actuator saturation. A saturated proportional-derivative (SPD) plus (SPD+) scheme is developed based on the commonly used linear proportional-derivative (PD) plus computed feedforward of robot dynamics (PD+). The closed-loop system formed by the proposed SPD+ controller and the robot system is shown to be semiglobal asymptotically stable with Lyapunov's direct method. The fact that the proposed controller can be a priori bounded is a significant added advantage. The practical implication is that the actuators can be appropriately sized without an ad hoc saturation scheme to remove the possibility of actuator failure due to excessive torque input levels. Benefiting from a new saturation function, a much improved performance is obtained over the commonly used hyperbolic tangent function. Simulations performed on a two-degree-of-freedom (DOF) robot are presented to illustrate the effectiveness and improved performance of the proposed approach.