TY - JOUR
T1 - A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators
AU - Salinas, Adriana
AU - Moreno-Valenzuela, Javier
AU - Kelly, Rafael
N1 - Publisher Copyright:
© The Author(s) 2016.
PY - 2016/2/25
Y1 - 2016/2/25
N2 - This article addresses the joint position control of torque-driven robot manipulators under actuators subject to torque saturation. Robots having viscous friction, but without gravity vector, are considered. By assuming a static model for the torque actuator (specifically, a model of nonlinear and non-differentiable hard saturation function), a family of nonlinear proportional-integral-derivative-like controllers is proposed. Lyapunov stability theory is used to establish conditions for local asymptotic stability of the closed-loop system. A notable feature of the proposed controller is that stability conditions do not depend on the saturation levels of the actuators. In addition, an experimental study complements the proposed theory.
AB - This article addresses the joint position control of torque-driven robot manipulators under actuators subject to torque saturation. Robots having viscous friction, but without gravity vector, are considered. By assuming a static model for the torque actuator (specifically, a model of nonlinear and non-differentiable hard saturation function), a family of nonlinear proportional-integral-derivative-like controllers is proposed. Lyapunov stability theory is used to establish conditions for local asymptotic stability of the closed-loop system. A notable feature of the proposed controller is that stability conditions do not depend on the saturation levels of the actuators. In addition, an experimental study complements the proposed theory.
KW - Robot manipulators
KW - actuator
KW - proportional-integral-derivative-like controller
KW - saturation
UR - http://www.scopus.com/inward/record.url?scp=84959362774&partnerID=8YFLogxK
U2 - 10.1177/1687814016628492
DO - 10.1177/1687814016628492
M3 - Artículo
SN - 1687-8132
VL - 8
SP - 1
EP - 14
JO - Advances in Mechanical Engineering
JF - Advances in Mechanical Engineering
IS - 2
ER -