A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators

dc.contributorEDUARDO JAVIER MORENO VALENZUELA
dc.contributorRAFAEL DE JESUS KELLY MARTINEZ
dc.creatorADRIANA SALINAS AVILA
dc.date2016
dc.date.accessioned2023-03-16T14:29:35Z
dc.date.available2023-03-16T14:29:35Z
dc.identifierhttp://cicese.repositorioinstitucional.mx/jspui/handle/1007/1715
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/6229745
dc.description"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."
dc.formatapplication/pdf
dc.languageeng
dc.publisherSAGE Publishing
dc.relationinfo:eu-repo/semantics/altIdentifier/DOI/http://dx.doi.org/10.1177/1687814016628492
dc.relationcitation:Salinas,A.,Moreno Valenzuela,J.,Kelly,R.2016.A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators.Advances in Mechanical Engineering,8(2),1-14.doi:10.1177/1687814016628492
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0
dc.sourceAdvances in Mechanical Engineering, Vol. 8, No. 2, Págs. 1-14
dc.subjectinfo:eu-repo/classification/Autor/Robot manipulators, Actuator, Proportional–integral–derivative-like controller, Saturation
dc.subjectinfo:eu-repo/classification/cti/1
dc.subjectinfo:eu-repo/classification/cti/22
dc.subjectinfo:eu-repo/classification/cti/2203
dc.subjectinfo:eu-repo/classification/cti/2203
dc.titleA family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


Este ítem pertenece a la siguiente institución