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Optimization of anti-windup controller design is achieved for non-linear systems with actuator saturation. The systems are represented as Euler-Lagrange systems, and the proportional and integral (PI) controller, in which the gravity term is cancelled by a non-linear compensation technique, is used. The goal of optimization is to minimize the saturated input, i.e., the difference between the control...
The present paper considers a position and force control method for robot manipulators under holonomic constraints. The constraint surface type is assumed to be known, whereas the parameters of the surface are not known. The parameters of the constraint surface are estimated using the least squares method, and the incorrect target position is modified optimally to be on the true constraint surface...
The present paper describes finite-gain L2 stability guaranteed locally by the proposed anti-windup adaptive law for Euler-Lagrange systems with actuator saturation. All constant parameters of the robot system are estimated for an arbitrary target orbit. In order to achieve finite-gain L2 stability and ensure adaptive tracking performance, an output saturation function of the tracking error is introduced...
The anti-windup adaptive law that has been previously proposed is verified by experiments on a two-link robot arm. It is confirmed that windup of the control input is restrained very well by the proposed anti-windup adaptive law and the transitional control performance is improved effectively.
The present paper proposes an anti-windup adaptive law for Euler-Lagrange systems with actuator saturation. For an arbitrary target orbit, all constant parameters of the robot system are estimated by the proposed anti-windup adaptive law. In order to ensure tracking performance with actuator saturation, the input saturation state is classified into four saturation cases, and an adaptive law is given...
Using an output saturation function of the error vector (difference between the target vector and the revolution angle vector), globally asymptotic stability of any equilibrium state can be achieved for an anti-windup PID position control of Euler-Lagrange systems with actuator saturation. The control performance is verified by numerical simulations and experiments on a two-link robot arm.
A static anti-integrator-windup controller design method that employs gravity compensation is proposed for Euler-Lagrange systems with actuator saturation. A condition caused by gravity compensation is introduced so that asymptotic stability of the equilibrium state is achieved for proportional and integral set positioning control based on passivity and Lyapunov theory. The semi-optimality of the...
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