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Universal integral controllers for robotic manipulators
Michigan State University.ORCID iD: 0000-0003-0730-9441
Michigan State University.
2002 (English)In: Nonlinear control systems 2001: (NOLCOS2001) : a proceeding volume from the 5th IFAC Symposium, St. Petersburg, Russia, 4-6 July 2001, Oxford: Pergamon Press, 2002, 351-356 p.Conference paper (Refereed)
Abstract [en]

As a standard model for a rigid multilink robotic manipulator, we consider a MIMO nonlinear system of uniform vector relative degree {2,...,2}, which has a globally defined normal form with no zero dynamics. We consider a trajectory-following problem for a class of smooth bounded time-varying vector reference signals. We design an output feedback integral controller that ensures ultimately bounded tracking error which could be made as small as required. In addition, if the reference signal has a constant limit, the output approaches this limit. The controller is robust with respect to parameter uncertainties, decentralized, saturated, and simple to implement. Locally, it is a PID regulator with derivatives estimated via a linear high-gain observer. Regional (and semiglobal) practical (and asymptotic) stability is shown with the help of a vector Lyapunov function and a technique, typical for "continuous" sliding mode control. Copyright (C) 2001 IFAC.

Place, publisher, year, edition, pages
Oxford: Pergamon Press, 2002. 351-356 p.
, IFAC proceedings series, ISSN 0741-1146
Keyword [en]
robot control, saturated control, PID control, ultimate boundedness, semiglobal asymptotic stability, high-gain observers
National Category
Control Engineering Robotics
URN: urn:nbn:se:umu:diva-88145ISI: 000180779500062ISBN: 0-08-043560-2ISBN: 9780080435602OAI: diva2:713665
5th IFAC Symposium on Nonlinear Control Systems, JUL 04-06, 2001, ST PETERSBURG, RUSSIA
Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2014-04-25Bibliographically approved

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Freidovich, Leonid
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