A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators
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 n...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-02-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814016628492 |
| Summary: | 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. |
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| ISSN: | 1687-8140 |