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 |
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SAGE Publishing
2016-02-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814016628492 |
| _version_ | 1818313412489248768 |
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| author | Adriana Salinas Javier Moreno-Valenzuela Rafael Kelly |
| author_facet | Adriana Salinas Javier Moreno-Valenzuela Rafael Kelly |
| author_sort | Adriana Salinas |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-12-13T08:33:20Z |
| format | Article |
| id | doaj.art-1d9b52d5313a4b8a8cf4e21153617fd0 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-13T08:33:20Z |
| publishDate | 2016-02-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-1d9b52d5313a4b8a8cf4e21153617fd02022-12-21T23:53:43ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402016-02-01810.1177/168781401662849210.1177_1687814016628492A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuatorsAdriana Salinas0Javier Moreno-Valenzuela1Rafael Kelly2Departamento de Electrónica y Telecomunicaciones (DET)-DFA, CICESE, Ensenada, MexicoDepartamento de Sistemas y Control, Instituto Politécnico Nacional-CITEDI, Tijuana, MexicoDepartamento de Electrónica y Telecomunicaciones (DET)-DFA, CICESE, Ensenada, MexicoThis 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.https://doi.org/10.1177/1687814016628492 |
| spellingShingle | Adriana Salinas Javier Moreno-Valenzuela Rafael Kelly A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators Advances in Mechanical Engineering |
| title | A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators |
| title_full | A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators |
| title_fullStr | A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators |
| title_full_unstemmed | A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators |
| title_short | A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators |
| title_sort | family of nonlinear pid like regulators for a class of torque driven robot manipulators equipped with torque constrained actuators |
| url | https://doi.org/10.1177/1687814016628492 |
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