Robust path tracking control with autonomous consideration of torque saturation

Abstract

Summary form only given. The paper proposes the new autonomous adjusting algorithms for the saturation of joint torque and controller output. The proposed algorithms are two online autonomous algorithms. The first algorithm adjusts the acceleration torque in joint space in order for torque saturation to to have no effect. The proposed algorithm adjusts the acceleration torque which is based on the acceptable ratio of acceleration torque current. The compensatory torque current for disturbance torque is obtained from the estimated value of the disturbance observer in joint space. The proposed algorithm always maintains the original direction of the total acceleration torque, and only reduces its amplitude. The second algorithm adjusts the reference of a path tracking control system in Cartesian space, and it considers the saturation of the path tracking control in joint space and Cartesian space. The robust path tracking control method using the proposed algorithms well realizes the accurate path tracking response robustly, and it has no torque saturation effect.