Global Asymptotic Saturated Output Feedback Control of Robot Manipulators

Abstract

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 Lyapunov’s direct method. Simulations performed on a two-degrees-of-freedom (2-DOF) manipulator demonstrate the effectiveness of the proposed approach.