Global asymptotic saturated PID control for robot manipulators / Yuxin Su in IEEE Transactions on control systems technology, Vol. 18 N° 6 (Novembre 2010)  

Public ISBD [article]  inIEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1280-1288 Titre : Global asymptotic saturated PID control for robot manipulators Type de document : texte imprimé Auteurs : Yuxin Su, Auteur ; C. Müller, Auteur ; Chunhong Zheng, Auteur Année de publication : 2011 Article en page(s) : pp. 1280-1288 Note générale : Génie Aéroqpatial Langues : Anglais (eng) Mots-clés : Actuator saturation Asymptotic stability Bounded control Global Proportional-integral derivative (PID] Robot Index. décimale : 629.1 Résumé : This paper addresses the global asymptotic regulation of robot manipulators under input constraints, both with and without velocity measurements. It is proven that robot systems subject to bounded inputs can be globally asymptotically stabilized via a saturated proportional-integral-derivative (PID) control in agreement with Lyapunov's direct method and LaSalle's invariance principle. Advantages of the proposed controller include an absence of modeling parameters in the control law formulation and an ability to ensure actuator constraints are not breached. This is accomplished by selecting control gains a priori, removing the possibility of actuator failure due to excessive torque input levels. The effectiveness of the proposed approach is illustrated via simulations. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5353633 [article] Global asymptotic saturated PID control for robot manipulators [texte imprimé] / Yuxin Su, Auteur ; C. Müller, Auteur ; Chunhong Zheng, Auteur . - 2011 . - pp. 1280-1288. Génie Aéroqpatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1280-1288 Mots-clés : Actuator saturation Asymptotic stability Bounded control Global Proportional-integral derivative (PID] Robot Index. décimale : 629.1 Résumé : This paper addresses the global asymptotic regulation of robot manipulators under input constraints, both with and without velocity measurements. It is proven that robot systems subject to bounded inputs can be globally asymptotically stabilized via a saturated proportional-integral-derivative (PID) control in agreement with Lyapunov's direct method and LaSalle's invariance principle. Advantages of the proposed controller include an absence of modeling parameters in the control law formulation and an ability to ensure actuator constraints are not breached. This is accomplished by selecting control gains a priori, removing the possibility of actuator failure due to excessive torque input levels. The effectiveness of the proposed approach is illustrated via simulations. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5353633

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