High performance anti-windup for robot manipulators

Abstract

In this paper we provide a high performance solution to the anti-windup problem for control systems on saturated fully actuated robot manipulators. Based on the preliminary work of [10], we provide here improved anti-windup laws based on simple and intuitive parameter tuning. Global asymptotic (and local exponential) stability of the arising closed-loops is formally proven and demonstrated on a simulation example. The simulation example also shows dramatic improvements as compared to previous results.