TY - JOUR
T1 - Stabilization of Robots with a Regulator Containing the Sigmoid Mapping
AU - Martinez, Dany Ivan
AU - De Rubio, Jose Jesus
AU - Vargas, Tomas Miguel
AU - Garcia, Victor
AU - Ochoa, Genaro
AU - Balcazar, Ricardo
AU - Cruz, David Ricardo
AU - Aguilar, Arturo
AU - Novoa, Juan Francisco
AU - Aguilar-Ibanez, Carlos
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2020
Y1 - 2020
N2 - Actuators nonlinearities are unknown external perturbations in robots, which are unwanted because they can severely limit their performance. This research is focused on the stabilization of robots subject to actuators nonlinearities with a regulator containing the sigmoid mapping. Our regulator has the following three main characteristics: a) a sigmoid mapping is used to ensure boundedness of the regulator law terms, b) the chattering is reduced by the usage of the saturation mapping instead of the signum mapping, and c) the stabilization is ensured by the Lyapunov analysis. Finally, we evaluate our regulator for the stabilization of two robots.
AB - Actuators nonlinearities are unknown external perturbations in robots, which are unwanted because they can severely limit their performance. This research is focused on the stabilization of robots subject to actuators nonlinearities with a regulator containing the sigmoid mapping. Our regulator has the following three main characteristics: a) a sigmoid mapping is used to ensure boundedness of the regulator law terms, b) the chattering is reduced by the usage of the saturation mapping instead of the signum mapping, and c) the stabilization is ensured by the Lyapunov analysis. Finally, we evaluate our regulator for the stabilization of two robots.
KW - Mapping
KW - Regulator
KW - Robot
KW - Sigmoid
KW - Stabilization
UR - http://www.scopus.com/inward/record.url?scp=85085553498&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2020.2994004
DO - 10.1109/ACCESS.2020.2994004
M3 - Artículo
SN - 2169-3536
VL - 8
SP - 89479
EP - 89488
JO - IEEE Access
JF - IEEE Access
M1 - 9091178
ER -