A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs

In this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity compensation. Compared with the adaptive approaches previously developed in...

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Bibliographic Details
Published in:Robotica 2013-10, Vol.31 (7), p.1103-1117
Main Authors: López-Araujo, D. J., Zavala-Río, A., Santibáñez, V., Reyes, F.
Format: Article
Language:English
Subjects:
Adaptive control systems
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Summary:In this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity compensation. Compared with the adaptive approaches previously developed in a bounded-input context, the proposed scheme guarantees the adaptive regulation objective: globally, avoiding discontinuities in the control expression as well as in the adaptation auxiliary dynamics, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Experimental results corroborate the efficiency of the proposed adaptive scheme.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574713000350