CLC number: TP24
On-line Access:
Received: 2008-10-18
Revision Accepted: 2009-04-04
Crosschecked: 2009-08-14
Cited: 6
Clicked: 6508
Hua-shan LIU, Shi-qiang ZHU. A generalized trajectory tracking controller for robot manipulators with bounded inputs[J]. Journal of Zhejiang University Science A, 2009, 10(10): 1500-1508.
@article{title="A generalized trajectory tracking controller for robot manipulators with bounded inputs",
author="Hua-shan LIU, Shi-qiang ZHU",
journal="Journal of Zhejiang University Science A",
volume="10",
number="10",
pages="1500-1508",
year="2009",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A0820725"
}
%0 Journal Article
%T A generalized trajectory tracking controller for robot manipulators with bounded inputs
%A Hua-shan LIU
%A Shi-qiang ZHU
%J Journal of Zhejiang University SCIENCE A
%V 10
%N 10
%P 1500-1508
%@ 1673-565X
%D 2009
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A0820725
TY - JOUR
T1 - A generalized trajectory tracking controller for robot manipulators with bounded inputs
A1 - Hua-shan LIU
A1 - Shi-qiang ZHU
J0 - Journal of Zhejiang University Science A
VL - 10
IS - 10
SP - 1500
EP - 1508
%@ 1673-565X
Y1 - 2009
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A0820725
Abstract: A generalized controller based on stability theory of singularly perturbed systems is proposed, to deal with the problem of bounded actuator inputs in robot trajectory tracking control. The saturation function with error-gain matrix is applied in the torque control law, which ensures the upper bound of torque inputs in any given limited range. Through appropriately setting the entries of the error-gain matrix, the tracking performance can be improved. Moreover, a pseudo signal is generated from a linear filter to substitute for the actual velocity error, eliminating the need for velocity measurements. Finally, to verify the effectiveness of the generalized controller, a new saturated controller with error-gain-contained arc tangent function is designed. Comparison experiments show that the proposed controller can strictly guarantee the bound of the torque inputs in situations with non-zero initial tracking errors, and gives a better tracking result than other controllers.
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