标题：Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
期号：5
DOI：10.1177/1729881416663368
语种：English
出版社：SAGE Publications
摘要：An output-feedback proportional integral derivative-type control scheme for the global regulation of robot manipulators with constrained inputs is proposed. It guarantees the global stabilization objective—avoiding input saturation—releasing the feedback not only from the exact knowledge of the system structure and parameter values but also from velocity measurements. With respect to previous approaches of the kind, the proposed controller is expressed in a generalized form whence multiple saturating structures may be adopted, thus enlarging the degree of design flexibility. Furthermore, experimental tests on a two-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed scheme.
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