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Output-feedback adaptive control for the global regulation of 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.identifier.citationLópez-Araujo, D.J., Zavala-Río, A., Santibañez, V. et al. Int. J. Control Autom. Syst. (2013) 11: 105.
dc.description.abstract"In this paper, an output-feedback adaptive scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. Compared to the previous output-feedback adaptive approaches developed in a bounded-input context, the proposed free-of-velocity feedback controller guarantees the adaptive regulation objective: globally, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Moreover, the developed scheme is not restricted to the use of a specific saturation function to achieve the required boundedness, but may involve any one within a set of smooth and non-smooth (Lipschitz-continuous) bounded passive functions that include the hyperbolic tangent and the conventional saturation as particular cases. Experimental results corroborate the efficiency of the proposed scheme."
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.subjectAdaptive control
dc.subjectBounded inputs
dc.subjectGlobal regulation
dc.subjectOutput feedback
dc.subjectRobot manipulators
dc.titleOutput-feedback adaptive control for the global regulation of robot manipulators with bounded inputs
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