A family of hyperbolic-type control schemes for robot manipulators

Reyes-Cortés, Fernando; Felix-Beltran, O.; Cid-Monjaraz, Jaime; Alonso-Aruffo, Gweni

doi:10.14736/kyb-2019-3-0561

Cited by 2 publications

(1 citation statement)

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“…The gradient of artificial potential energy is represented by square root-type to design a new regulator with bounded control actions, the implementation and experimental results are presented in [12]. The contribution [13] shows as, the energy shaping methodology allows generating families of control schemes; these controllers have different qualitive proprieties to enhance feedback control of robot, global asymptotic stability, and experimental results on a direct-drive-robot.…”

Section: Introductionmentioning

confidence: 99%

Global Saturated Regulator with Variable Gains for Robot Manipulators

Sánchez-García

Reyes-Cortés

Al‐Hadithi

et al. 2021

jrc

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In this paper we propose a set of saturated controllers with variable gains to solve the regulation problem for robot manipulators in joint space. These control schemes deliver torques inside prescribed limits of servomotors. The gamma of variable gains is formed by continuous, smooth, and differentiable functions of the joint position error and velocity of manipulator. A strict Lyapunov function is proposed to demonstrate globally asymptotic stability of the close-loop equilibrium point. Finally, the functionality and performance of the proposal is illustrated via simulation results and comparative analysis against Proportional-Derivative (PD) control scheme on a two-degrees-freedom direct-drive robot manipulator.

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Section: Introductionmentioning

confidence: 99%