On global regulation of robot manipulators: Saturated linear state feedback and saturated linear output feedback

DOI10.1016/S0947-3580(97)70069-4zbMath0900.93192MaRDI QIDQ1367304

Rafael Kelly, Victor Santibáñez

Publication date: 30 March 1998

Published in: European Journal of Control (Search for Journal in Brave)

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

Related Items (10)

Aspects of ABJ theory ⋮ Observer-less output-feedback global continuous control for the finite-time and exponential stabilization of mechanical systems with constrained inputs ⋮ An optimal PID tuning method for a two-link manipulator via an exact penalty function method ⋮ Globally stable PID-like control of mechanical systems ⋮ A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs ⋮ Finite‐time consensus of Euler‐Lagrange agents without velocity measurements via energy shaping ⋮ Semiglobal stability of saturated linear PID control for robot manipulators ⋮ Global adaptive learning control of robotic manipulators by output error feedback ⋮ Continuous finite-time regulation of Euler-Lagrange systems via energy shaping ⋮ Strict Lyapunov functions for finite-time control of robot manipulators

Cites Work

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• Global regulation of robots using only position measurements
• An observer-based set-point controller for robot manipulators with flexible joints
• Asymptotic stabilization of a specified position and of a permanent rotation of a rigid body with and without measuring its velocities
• Design of tracking systems subject to actuator saturation and integrator wind-up
• New class of control laws for robotic manipulators Part 1. Non–adaptive case
• A New Feedback Method for Dynamic Control of Manipulators
• On global output feedback regulation of Euler-Lagrange systems with bounded inputs

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