Output-feedback proportional-integral-derivative-type control with multiple saturating structure for the global stabilization of robot manipulators with bounded inputs

摘要

An output-feedback proportional integral derivative-type control scheme for the global regulation of robot manipulators with constrained inputs is proposed. It guarantees the global stabilization objective—avoiding input saturation—releasing the feedback not only from the exact knowledge of the system structure and parameter values but also from velocity measurements. With respect to previous approaches of the kind, the proposed controller is expressed in a generalized form whence multiple saturating structures may be adopted, thus enlarging the degree of design flexibility. Furthermore, experimental tests on a two-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed scheme.