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

[1]  Rafael Kelly,et al.  Control of Robot Manipulators in Joint Space , 2005 .

[2]  Patrizio Tomei,et al.  A Global Adaptive Learning Control for Robotic Manipulators , 2005, CDC 2005.

[3]  Brian Armstrong-Hélouvry,et al.  Control of machines with friction , 1991, The Kluwer international series in engineering and computer science.

[4]  Javier Moreno-Valenzuela,et al.  Global Asymptotic Stability of the Classical PID Controller by Considering Saturation Effects in Industrial Robots , 2011 .

[5]  Robert L. Kosut,et al.  Design of Linear Systems with Saturating Linear Control and Bounded States , 1982, 1982 American Control Conference.

[6]  Ernest Barany,et al.  Global regulation of uncertain manipulators using bounded controls , 1997, Proceedings of International Conference on Robotics and Automation.

[7]  Leonid B. Freidovich,et al.  Stabilization of the position of a Lagrangian system with elastic elements and bounded control, with and without measurement of velocities , 1997 .

[8]  Bor-Sen Chen,et al.  The stability of feedback control with nonlinear saturating actuator: time domain approach , 1988 .

[9]  R. Ortega,et al.  On global output feedback regulation of Euler-Lagrange systems with bounded inputs , 1996, IEEE Trans. Autom. Control..

[10]  Bruno Siciliano,et al.  Modelling and Control of Robot Manipulators , 1997, Advanced Textbooks in Control and Signal Processing.

[11]  P. Tomei,et al.  Global Adaptive Learning Control of Robotic Manipulators by Output Error Feedback , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[12]  Giorgio Battistelli,et al.  Unfalsified Virtual Reference Adaptive Switching Control of Plants with Persistent Disturbances , 2008 .

[13]  Ilya V. Burkov Stabilization of position or uniform motion of mechanical systems via bounded control and without velocity measurements , 2009, 2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC).

[14]  Abdelhamid Laib Adaptive output regulation of robot manipulators under actuator constraints , 2000, IEEE Trans. Robotics Autom..

[15]  Sun Yu,et al.  Kinematic Characteristics of 3-UPU Parallel Manipulator in Singularity and Its Application , 2011 .

[16]  Wei Zhang,et al.  Adaptive Robotic Control Based on a Filter Function Under the Saturation of Actuators , 2006, 2006 International Conference on Machine Learning and Cybernetics.

[17]  Aleksej F. Filippov,et al.  Differential Equations with Discontinuous Righthand Sides , 1988, Mathematics and Its Applications.

[18]  Derong Liu,et al.  Stability of Dynamical Systems , 2008 .

[19]  Mrdjan J. Jankovic,et al.  Constructive Nonlinear Control , 2011 .

[20]  Warren E. Dixon,et al.  Adaptive set-point control of robotic manipulators with amplitude-limited control inputs , 2000, Robotica.

[21]  M. Athans,et al.  Control systems with rate and magnitude saturation for neutrally stable open loop systems , 1990, 29th IEEE Conference on Decision and Control.

[22]  Jose Luis Meza,et al.  SATURATED NONLINEAR PID GLOBAL REGULATOR FOR ROBOT MANIPULATORS: PASSIVITY BASED ANALYSIS , 2005 .

[23]  Bin Yao,et al.  A Globally Stable High-Performance Adaptive Robust Control Algorithm With Input Saturation for Precision Motion Control of Linear Motor Drive Systems , 2007 .

[24]  Rafael Castro-Linares,et al.  Trajectory tracking for non-holonomic cars: A linear approach to controlled leader-follower formation , 2010, 49th IEEE Conference on Decision and Control (CDC).

[25]  Bin Yao,et al.  Adaptive Robust Repetitive Control of an Industrial Biaxial Precision Gantry for Contouring Tasks , 2011, IEEE Transactions on Control Systems Technology.

[26]  R. Ortega,et al.  On passivity-based output feedback global stabilization of Euler-Lagrange systems , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[27]  Wolfgang Hahn,et al.  Stability of Motion , 1967 .

[28]  Rafael Kelly,et al.  On Global Regulation of Robot Manipulators: Saturated Linear State Feedback and Saturated Linear Output Feedback , 1997, Eur. J. Control.

[29]  Víctor Santibáñez,et al.  A Natural Saturating Extension of the PD-With-Desired-Gravity-Compensation Control Law for Robot Manipulators With Bounded Inputs , 2007, IEEE Transactions on Robotics.

[30]  Suguru Arimoto,et al.  Control Theory of Nonlinear Mechanical Systems , 1996 .

[31]  Víctor Santibáñez,et al.  Point-to-point robot control under actuator constraints , 1997 .

[32]  Frank L. Lewis,et al.  Robot Manipulator Control: Theory and Practice , 2003 .

[33]  Víctor Santibáñez,et al.  Simple extensions of the PD-with-gravity-compensation control law for robot manipulators with bounded inputs , 2006, IEEE Transactions on Control Systems Technology.

[34]  D. Bernstein,et al.  A chronological bibliography on saturating actuators , 1995 .

[35]  Víctor Santibáñez,et al.  A New Saturated Nonlinear PID Global Regulator for Robot Manipulators1 1Work partially supported by CONACyT (grant 45826) and DGEST, Mexico. , 2008 .

[36]  Warren E. Dixon,et al.  Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics , 2007, IEEE Transactions on Automatic Control.

[37]  N. Krikelis,et al.  Design of tracking systems subject to actuator saturation and integrator wind-up , 1984 .

[38]  Fernando Reyes,et al.  Experimental evaluation of model-based controllers on a direct-drive robot arm , 2001 .

[39]  Orest Iftime,et al.  Proceedings of the 16th IFAC World congress , 2006 .

[40]  Rafael Kelly,et al.  A new set-point controller with bounded torques for robot manipulators , 1998, IEEE Trans. Ind. Electron..

[41]  A. Teel Global stabilization and restricted tracking for multiple integrators with bounded controls , 1992 .

[42]  Rafael Kelly,et al.  Global regulation for robot manipulators under SP-SD feedback , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[43]  B. Paden,et al.  Lyapunov stability theory of nonsmooth systems , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[44]  Warren E. Dixon,et al.  Tracking Control of Robot Manipulators with Bounded Torque Inputs , 1999, Robotica.

[45]  Peter C. Müller,et al.  Global Asymptotic Saturated PID Control for Robot Manipulators , 2010, IEEE Transactions on Control Systems Technology.

[46]  Fernando Reyes-Cortés,et al.  Experimental Evaluation of Identification Schemes on a Direct Drive Robot , 1997, Robotica.