Global asymptotic saturated output feedback control of robot manipulators

This paper addresses the global output feedback regulation problem for robot manipulators in the presence of actuator constraints, and a very simple bounded proportional-derivative (PD) plus desired gravity compensation scheme is formulated as solution to this problem. The global asymptotic stability of the closed-loop system is proved with Lyapunovpsilas direct method. Simulations performed on a two-degrees-of-freedom (2-DOF) manipulator demonstrate the effectiveness of the proposed approach.

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