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This paper deals with the position control of robot manipulators with uncertain payload. Proposed is a simple class of robot regulators consisting of a linear PD plus an integral action driven by PD controller. By using Lyapunovpsilas direct method and LaSallepsilas invariance principle, the simple explicit conditions on the regulator gains to ensure semiglobal asymptotic stability are provided. The...
The joint position regulation problem for robot manipulators under a standard saturated proportional-integral differential (PID) compensator is studied in this brief. The main result states the existence of PID control gains yielding semiglobal asymptotic stability if the control torque bounds are larger than gravitational torques. Energy shaping plus damping injection methods, as well as singular...
This paper deals with the design problem of an Hinfin observer for robot manipulators in the presence of external perturbations. The proposed scheme is an application of an Hinfin filter to the class of robotic manipulator systems in order to guarantee disturbance attenuation of the observation error and the asymptotic stabilization of the estimation error. Using a stabilizing control law, a stabilization...
On the fault tolerant control of robotic manipulators under the saturation of actuators, a tracking controller with bounded feedback is designed in this article, which is based on gravity compensation and a filter function. An adaptive controller is presented to compensate the variance of gravity online. Both of them are proved to be semi-global asymptotic stable. Simulation results on the two-link...
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