Full Text:   <4340>

CLC number: TP24

On-line Access: 

Received: 2008-10-18

Revision Accepted: 2009-04-04

Crosschecked: 2009-08-14

Cited: 6

Clicked: 6235

Citations:  Bibtex RefMan EndNote GB/T7714

-   Go to

Article info.
Open peer comments

Journal of Zhejiang University SCIENCE A 2009 Vol.10 No.10 P.1500-1508


A generalized trajectory tracking controller for robot manipulators with bounded inputs

Author(s):  Hua-shan LIU, Shi-qiang ZHU

Affiliation(s):  State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   watson683@163.com

Key Words:  Robot, Tracking control, Singular perturbation, Bounded input

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",
publisher="Zhejiang University Press & Springer",

%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

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

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.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


[1] de Queiroz, M.S., Hu, J., Dawson, D.M., 1997. Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation. IEEE Trans. Syst. Man Cybern. Part B, 27(5):796-809.

[2] Dixon, W.E., de Queiroz, M.S., Zhang, F., Dawson, D.M., 1999. Tracking control of robot manipulators with bounded torque inputs. Robotica, 17(2):121-129.

[3] Kelly, R., Santibanez, V., Berghuis, H., 1997. Point-to-point robot control under actuator constraints. Control Eng. Pract., 5(11):1555-1562.

[4] Kelly, R., Santibanez, V., Loria, A., 2005. Control of Robot Manipulators in Joint Space. Springer-Verlag, Berlin, p.95-109.

[5] Khalil, H.K., 2007. Nonlinear Systems (3rd Ed.). Publishing House of Electronics Industry, Beijing, p.456-459.

[6] Laib, A., 2000. Adaptive output regulation of robot manipulators under actuator constraints. IEEE Trans. Rob. Autom., 16(1):29-35.

[7] Loria, A., Nijmeijer, H., 1998. Bounded output feedback tracking control of full actuated Euler-Lagrange systems. Syst. Control Lett., 33(3):151-161.

[8] Loria, A., Ortega, R., 1995. On tracking control of rigid and flexible joints robots. Appl. Math. Comput. Sci., 5(2):101-113.

[9] Moreno-Valenzuela, J., Santibanez, V., Campa, R., 2008a. A class of OFT controllers for torque-saturated robot manipulators: Lyapunov stability and experimental evaluation. J. Intell. Rob. Syst., 51(1):65-88.

[10] Moreno-Valenzuela, J., Santibanez, V., Campa, R., 2008b. On output feedback tracking control of robot manipulators with bounded torque input. Int. J. Control Autom. Syst., 6(1):76-86.

[11] Paden, B., Panja, R., 1988. Globally asymptotically stable PD+ controller for robot manipulators. Int. J. Control, 47(6):1697-1712.

[12] Reyes, F., Kelly, R., 2001. Experimental evaluation of model-based controllers on a direct-drive robot arm. Mechatronics, 11(3):267-282.

[13] Santibanez, V., Kelly, R., 2001. Global Asymptotic Stability of Bounded Output Feedback Tracking Control for Robot Manipulators. Proc. 40th IEEE Conf. on Decision and Control, 2:1378-1379.

[14] Santibanez, V., Kelly, R., Reys, F., 1998. A new set-point controller with bounded torques for robot manipulators. IEEE Trans. Ind. Electron., 45(1):126-133.

[15] Zavala-Rio, A., Santibanez, V., 2006. Simple extensions of the PD-with-gravity-compensation control law for robot manipulators with bounded inputs. IEEE Trans. Control Syst. Technol., 14(5):958-965.

Open peer comments: Debate/Discuss/Question/Opinion


Please provide your name, email address and a comment

Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2024 Journal of Zhejiang University-SCIENCE