In this paper, the finite-time regulation problem of robot manipulators under saturated actuator inputs with position measurements only is addressed. A simple saturated finite-time proportional-derivative (PD) plus gravity compensation (PD+) controller is presented, in which the joint velocity is estimated by constructing a simple nonlinear filter. Global finite-time stability is shown by using Lyapunov stability theory and geometric homogeneity technique. The benefits of this design are that the proposed control can be easily implemented and ensures global finite-time stability with bounded control by selecting control gains a priori. Simulations and experimental results illustrate the expected performance of the proposed approach.
Global Output Feedback Finite-Time Regulation of Robot Manipulators Under Actuator Constraints
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received May 11, 2016; final manuscript received November 6, 2016; published online March 22, 2017. Assoc. Editor: Tesheng Hsiao.
Wang, H., Su, Y., and Zhang, L. (March 22, 2017). "Global Output Feedback Finite-Time Regulation of Robot Manipulators Under Actuator Constraints." ASME. J. Dyn. Sys., Meas., Control. June 2017; 139(6): 064501. https://doi.org/10.1115/1.4035237
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