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Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs

dc.contributor.authorZavala Río, Arturo
dc.contributor.authorMendoza Gutiérrez, Marco Octavio
dc.contributor.authorSantibáñez, Víctor
dc.contributor.authorReyes Cortés, José Fernando
dc.contributor.editorSAGE Publications
dc.date.accessioned2018-03-21T23:18:41Z
dc.date.available2018-03-21T23:18:41Z
dc.date.issued2016-09
dc.identifier.citationZavala-Rio, A., Mendoza, M., Santibanez, V., & Reyes, F. (2016). Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs. International Journal of Advanced Robotic Systems. https://doi.org/10.1177/1729881416663368
dc.identifier.urihttp://hdl.handle.net/11627/3443
dc.description.abstract"An output-feedback proportional integral derivative-type control scheme for the global regulation of robot manipulators with constrained inputs is proposed. It guarantees the global stabilization objective-avoiding input saturation-releasing the feedback not only from the exact knowledge of the system structure and parameter values but also from velocity measurements. With respect to previous approaches of the kind, the proposed controller is expressed in a generalized form whence multiple saturating structures may be adopted, thus enlarging the degree of design flexibility. Furthermore, experimental tests on a two-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed scheme."
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectOutput feedback
dc.subjectPID control
dc.subjectGlobal stabilization
dc.subjectRobot manipulators
dc.subjectBounded inputs
dc.subjectSaturation
dc.subject.classificationMATEMÁTICAS
dc.titleOutput-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs
dc.typearticle
dc.identifier.doihttps://doi.org/10.1177/1729881416663368
dc.rights.accessAcceso Abierto


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internacional