Adaptive control: stability, convergence, and robustness
Adaptive control: stability, convergence, and robustness
Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
Systems & Control Letters
Control of Robot Manipulators
Control design for harmonic disturbance rejection for robot manipulators with bounded inputs
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Brief Semiglobal stability of saturated linear PID control for robot manipulators
Automatica (Journal of IFAC)
Teleoperation in the presence of varying time delays and sandwich linearity in actuators
Automatica (Journal of IFAC)
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This paper addresses the link position setpoint control problem of n–link robotic manipulators with amplitude-limited control inputs. We design a global-asymptotic exact model knowledge controller and a semi-global asymptotic controller which adapts for parametric uncertainty. Explicit bounds for these controllers can be determined; hence, the required input torque can be calculated a priori so that actuator saturation can be avoided. We also illustrate how the proposed control algorithm in this paper can be slightly modified to produce a proportional-integral-derivative (PID) controller which contains a saturated integral term. Experimental results are provided to illustrate the improved performance of the proposed control strategy over a standard adaptive controller that has been artificially limited to account for torque saturation.