TY - GEN
T1 - Semiglobal asymptotic stability of nonlinear PD-type plus gravity compensation controllers for input-saturated robot manipulators
AU - Jimenez-Quiroz, Marco
AU - Moyron, Jeronimo
AU - Moreno-Valenzuela, Javier
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - In this paper, the stability of PD-type controllers plus gravity compensation for position regulation of input-saturated robot manipulators is discussed, where symmetrical hard saturation functions are employed to model the input constraints. Based on Lyapunov's theory, a change of variable and a proper representation of the control input, it is shown that the closed-loop equilibrium point for the studied class of PD-type controllers plus gravity compensation is asymptotically stable. Furthermore, an estimate of the region of attraction by means of a level set of the Lyapunov function is given, showing that this region can arbitrarily be enlarged by the controller gains, even in the presence of input saturation. Thus, semiglobal asymptotic stability is achieved. A case study using a crank-slider mechanism is included where simulation results illustrate the concepts developed.
AB - In this paper, the stability of PD-type controllers plus gravity compensation for position regulation of input-saturated robot manipulators is discussed, where symmetrical hard saturation functions are employed to model the input constraints. Based on Lyapunov's theory, a change of variable and a proper representation of the control input, it is shown that the closed-loop equilibrium point for the studied class of PD-type controllers plus gravity compensation is asymptotically stable. Furthermore, an estimate of the region of attraction by means of a level set of the Lyapunov function is given, showing that this region can arbitrarily be enlarged by the controller gains, even in the presence of input saturation. Thus, semiglobal asymptotic stability is achieved. A case study using a crank-slider mechanism is included where simulation results illustrate the concepts developed.
UR - http://www.scopus.com/inward/record.url?scp=85126032984&partnerID=8YFLogxK
U2 - 10.1109/CDC45484.2021.9683469
DO - 10.1109/CDC45484.2021.9683469
M3 - Contribución a la conferencia
AN - SCOPUS:85126032984
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1432
EP - 1437
BT - 60th IEEE Conference on Decision and Control, CDC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 60th IEEE Conference on Decision and Control, CDC 2021
Y2 - 13 December 2021 through 17 December 2021
ER -