Finite-time tracking control for robot manipulators with actuator saturation

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• 作者：Yuxin Su ; Jan Swevers
• 关键词：Actuator saturation ; Finite-time stability ; Geometric homogeneity ; Robot control ; Tracking control
• 刊名：Robotics and Computer-Integrated Manufacturing
• 出版年：April, 2014
• 年：2014
• 卷：30
• 期：2
• 页码：91-98
• 全文大小：605 K

文摘

This paper addresses the finite-time tracking of robot manipulators in the presence of actuator saturation. The commonly-used proportional-derivative (PD) plus dynamics compensation (PD+) scheme is extended by replacing the linear errors in the PD+ scheme with saturated non-smooth but continuous exponential-like ones. Advantages of the proposed controller include semi-global finite-time tracking stability featuring faster transient and high-precision performances and the ability to ensure that actuator constraints are not violated. This is accomplished by selecting control gains a priori, removing the possibility of actuator failure due to excessive torque input levels. Lyapunov's direct method and finite-time stability are employed to prove semi-global finite-time tracking. Simulations performed on a three degree-of-freedom (DOF) manipulator are provided to illustrate the effectiveness and the improved performance of the formulated algorithm.