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A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs

dc.contributor.authorLópez Araujo, Daniela Juanita
dc.contributor.authorZavala Río, Arturo
dc.contributor.authorSantibáñez, Víctor
dc.contributor.authorReyes Cortés, José Fernando
dc.contributor.editorWiley
dc.date.accessioned2018-11-15T18:58:20Z
dc.date.available2018-11-15T18:58:20Z
dc.date.issued2015
dc.identifier.citationLópez-Araujo D. J., Zavala-Río A., Santibáñez V. and Reyes F. (2015), A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs, Int. J. Adapt. Control Signal Process., 29, pages 180-200, doi: 10.1002/acs2466
dc.identifier.urihttp://hdl.handle.net/11627/4712
dc.description.abstract"In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a general class of saturation functions. Compared with adaptive tracking control algorithms previously developed in a bounded input context, the proposed adaptive approach guarantees the motion control objective for any initial condition, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and permitting innovation on the saturating structure through its generalized form, giving a wide range of possibilities for performance improvement. Experimental results 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.subjectAdaptive control
dc.subjectGlobal tracking
dc.subjectBounded inputs
dc.subjectRobot manipulators
dc.subjectSaturation
dc.subject.classificationMATEMÁTICAS
dc.titleA generalized global adaptive tracking control scheme for robot manipulators with bounded inputs
dc.typearticle
dc.identifier.doihttps://doi.org/10.1002/acs.2466
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