TY - JOUR
T1 - Limited Integrator Antiwindup-Based Control of Input-Constrained Manipulators
AU - Moreno-Valenzuela, Javier
AU - Moyron, Jeronimo
AU - Montoya-Chairez, Jorge
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2024/2/1
Y1 - 2024/2/1
N2 - The limited integrator antiwindup (LIAW) is a helpful method that can be applied to improve performance in systems with constrained inputs. However, the use of this technique has relied on no formal stability framework but on intuition. To the best of our knowledge, Lyapunov's theory has yet to be applied to study the advantages of the LIAW when used in an adaptive control scheme. In this article, we introduce an adaptive gravity compensation proportional-derivative (PD) plus LIAW algorithm to solve the joint position regulation of input-constrained robot manipulators. Moreover, this article also reports the real-time experimental comparison among three control strategies: an adaptive nonlinear proportional-integral-derivative (PID) controller without any antiwindup extension, an adaptive PID scheme with a nonlinear antiwindup augmentation already reported in the literature, and the proposed adaptive PD plus LIAW algorithm. The experimental comparison departs from the idea of using PID-type controllers tuned with the same gains but without any special care for the input limitations. The advantages of the LIAW extension are then observed. Better performance results are obtained for the proposed adaptive PD plus LIAW solution.
AB - The limited integrator antiwindup (LIAW) is a helpful method that can be applied to improve performance in systems with constrained inputs. However, the use of this technique has relied on no formal stability framework but on intuition. To the best of our knowledge, Lyapunov's theory has yet to be applied to study the advantages of the LIAW when used in an adaptive control scheme. In this article, we introduce an adaptive gravity compensation proportional-derivative (PD) plus LIAW algorithm to solve the joint position regulation of input-constrained robot manipulators. Moreover, this article also reports the real-time experimental comparison among three control strategies: an adaptive nonlinear proportional-integral-derivative (PID) controller without any antiwindup extension, an adaptive PID scheme with a nonlinear antiwindup augmentation already reported in the literature, and the proposed adaptive PD plus LIAW algorithm. The experimental comparison departs from the idea of using PID-type controllers tuned with the same gains but without any special care for the input limitations. The advantages of the LIAW extension are then observed. Better performance results are obtained for the proposed adaptive PD plus LIAW solution.
KW - Adaptive control
KW - limited integrator antiwindup (LIAW)
KW - real experiments
KW - robot manipulator
KW - saturation
UR - http://www.scopus.com/inward/record.url?scp=85153405347&partnerID=8YFLogxK
U2 - 10.1109/TIE.2023.3262858
DO - 10.1109/TIE.2023.3262858
M3 - Artículo
AN - SCOPUS:85153405347
SN - 0278-0046
VL - 71
SP - 1738
EP - 1748
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 2
ER -