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Global trajectory tracking through output feedback for robot manipulators with bounded inputs

dc.contributor.authorZavala Río, Arturo
dc.contributor.authorAguiñaga Ruiz, Emeterio
dc.contributor.authorSantibáñez, Víctor
dc.contributor.editorWiley
dc.date.accessioned2018-11-15T18:58:39Z
dc.date.available2018-11-15T18:58:39Z
dc.date.issued2011
dc.identifier.citationZavala- Río, A., Aguiñaga- Ruiz, E. and Santibáñez, V. (2011), Global trajectory tracking through output feedback for robot manipulators with bounded inputs. Asian Journal of Control, 13: 430-438. doi:10.1002/asjc.324
dc.identifier.urihttp://hdl.handle.net/11627/4744
dc.description.abstract"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 velocity measurements. Moreover, it is not defined using a specific sigmoidal function, but any one on a set of saturation functions. Consequently, the proposed scheme actually constitutes a family of globally stabilizing output feedback bounded controllers. Furthermore, the control gains are not tied to satisfy any saturation?avoidance inequality and may consequently take any positive value, which may be considered beneficial for performance adjustment/improvement purposes. Further, a class of desired trajectories that may be globally tracked avoiding input saturation and excluding velocity measurements is completely characterized. Global asymptotic stabilization of the closed-loop system solutions towards the pre-specified desired trajectory is proved through a strict Lyapunov function. The efficiency of the proposed scheme is corroborated through experimental results."
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectRobot control
dc.subjectGlobal tracking
dc.subjectOutput feedback
dc.subjectBounded inputs
dc.subject.classificationMATEMÁTICAS
dc.titleGlobal trajectory tracking through output feedback for robot manipulators with bounded inputs
dc.typearticle
dc.identifier.doihttps://doi.org/10.1002/asjc.324
dc.rights.accessAcceso Abierto


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
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