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http://cicese.repositorioinstitucional.mx/jspui/handle/1007/1715| A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators | |
| ADRIANA SALINAS AVILA | |
| EDUARDO JAVIER MORENO VALENZUELA RAFAEL DE JESUS KELLY MARTINEZ | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| http://dx.doi.org/10.1177/1687814016628492 | |
| Robot manipulators, Actuator, Proportional–integral–derivative-like controller, Saturation | |
| "This article addresses the joint position control of torque-driven robot manipulators under actuators subject to torque saturation. Robots having viscous friction, but without gravity vector, are considered. By assuming a static model for the torque actuator (specifically, a model of nonlinear and non-differentiable hard saturation function), a family of nonlinear proportional–integral–derivative-like controllers is proposed. Lyapunov stability theory is used to establish conditions for local asymptotic stability of the closed-loop system. A notable feature of the proposed controller is that stability conditions do not depend on the saturation levels of the actuators. In addition, an experimental study complements the proposed theory." | |
| SAGE Publishing | |
| 2016 | |
| Artículo | |
| Advances in Mechanical Engineering, Vol. 8, No. 2, Págs. 1-14 | |
| Inglés | |
| Salinas,A.,Moreno Valenzuela,J.,Kelly,R.2016.A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators.Advances in Mechanical Engineering,8(2),1-14.doi:10.1177/1687814016628492 | |
| ELECTRÓNICA | |
| Versión publicada | |
| publishedVersion - Versión publicada | |
| Aparece en las colecciones: | Artículos - Electrónica y Telecomunicaciones |
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