Abstract
This paper addresses the problem of global asymptotic regulation for robot manipulators subject to actuator constraints and a single saturation function for every joint. A saturated proportional-derivative (PD) plus gravity compensation (PD+) control is designed. The proposed saturated PD+ (SPD+) controller is conceived within only a single saturation function for every joint. The benefit of such design is that it does not need to elaborately discriminate the terms that shall be bounded, and thus it is ready for implementation with an improved performance. Lyapunov theory is employed to show global asymptotic stability. Simulations are performed to verify the improved performance of the proposed approach.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
