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General information |
| Author |
López-Araujo, Daniela J.; Zavala-Río, Arturo; Santibáñez, Víctor; Reyes, Fernando |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
In this work, an output‐feedback adaptive SPSD‐
type control scheme for the global position
stabilization of robot manipulators with bounded inputs
is proposed. Compared with the output‐feedback
adaptive approaches previously developed in a boundedinput
context, the proposed velocity‐free feedback
controller guarantees the adaptive regulation objective
globally (i.e. for any initial condition), avoiding
discontinuities throughout the scheme, preventing the
inputs from reaching their natural saturation bounds and
imposing no saturation-avoidance restrictions on the
choice of the P and D control gains. Moreover, through its
extended structure, the adaptation algorithm may be
configured to evolve either in parallel (independently) or
interconnected to the velocity estimation (motion
dissipation) auxiliary dynamics, giving an additional
degree of design flexibility. Furthermore, the proposed
scheme is not restricted to the use of a specific saturation
function to achieve the required boundedness, but may
involve any one within a set of smooth and non‐smooth
(Lipschitz‐continuous) bounded passive functions that
include the hyperbolic tangent and the conventional
saturation as particular cases. Experimental results on a 3‐
degree‐of‐freedom manipulator corroborate the efficiency
of the proposed scheme. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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