Browsing División de Control y Sistemas Dinámicos by Subject "Robot control"
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A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs
(2013)"In this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity ... -
A natural saturating extension of the PD-with-desired-gravity-compensation control law for robot manipulators with bounded inputs
(2007)"This paper proposes a natural saturating extension of the proportional-derivative (PD) with desired gravity compensation (PDdgc) control law for the global regulation of robot manipulators with bounded inputs. Compared ... -
Global trajectory tracking through output feedback for robot manipulators with bounded inputs
(2011)"In this work, a globally stabilizing output feedback scheme for the trajectory tracking of robot manipulators with bounded inputs is proposed. It achieves the motion control objective avoiding input saturation and excluding ... -
Global trajectory tracking through static feedback for robot manipulators with bounded inputs
(2009)"In this work, two globally stabilizing bounded control schemes for the tracking control of robot manipulators with saturating inputs are proposed. They may be seen as extensions of the so-called PD+ algorithm to the bounded ...