Show simple item record

Title

An Output-Feedback PID-type Global Regulator for 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.date.accessioned2020-12-04T19:42:02Z
dc.date.available2020-12-04T19:42:02Z
dc.date.issued2015
dc.identifier.citationArturo Zavala-Rio, Marco Mendoza, Victor Santibañez, Fernando Reyes, An Output-Feedback PID-type Global Regulator for Robot Manipulators with Bounded Inputs, IFAC-PapersOnLine, Volume 48, Issue 19, 2015, Pages 87-93, https://doi.org/10.1016/j.ifacol.2015.12.015.
dc.identifier.urihttp://hdl.handle.net/11627/5494
dc.description.abstract"An output-feedback PID-type controller for the global stabilization of manipulators with bounded inputs is proposed. It guarantees the global regulation goal preventing input saturation while avoiding the exact knowledge of the system model and parameter values as well as the need for velocity measurements. Furthermore, it adopts an SPD-SI structure by keeping both the P and D actions together within a generalized saturation function while including an additional similar saturating integral action separately. So far, a formal analytical formulation for such a saturating PID-type control structure was not available under the absence of velocity measurements. Experimental results on a 2-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed controller. Copyright 2015 IFAC."
dc.publisherInternational Federation of Automatic Control
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 regulation
dc.subjectRobot manipulators
dc.subjectSaturation
dc.subject.classificationESTABILIDAD Y CONTROL
dc.titleAn Output-Feedback PID-type Global Regulator for Robot Manipulators with Bounded Inputs
dc.typearticle
dc.identifier.doihttps://doi.org/10.1016/j.ifacol.2015.12.015
dc.rights.accessAcceso Abierto


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

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