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Technical Brief

Global Output Feedback Finite-Time Regulation of Robot Manipulators Under Actuator Constraints

[+] Author and Article Information
Haihong Wang

School of Electro-Mechanical Engineering,
Xidian University,
Xi'an 710071, China
e-mail: wanghaihong@stu.xidian.edu.cn

Yuxin Su

School of Electro-Mechanical Engineering,
Xidian University,
Xi'an 710071, China
e-mail: yxsu@mail.xidian.edu.cn

Liyin Zhang

School of Electro-Mechanical Engineering,
Xidian University,
Xi'an 710071, China
e-mail: LiyinZhang_xd@163.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received May 11, 2016; final manuscript received November 6, 2016; published online March 22, 2017. Assoc. Editor: Tesheng Hsiao.

J. Dyn. Sys., Meas., Control 139(6), 064501 (Mar 22, 2017) (10 pages) Paper No: DS-16-1243; doi: 10.1115/1.4035237 History: Received May 11, 2016; Revised November 06, 2016

In this paper, the finite-time regulation problem of robot manipulators under saturated actuator inputs with position measurements only is addressed. A simple saturated finite-time proportional-derivative (PD) plus gravity compensation (PD+) controller is presented, in which the joint velocity is estimated by constructing a simple nonlinear filter. Global finite-time stability is shown by using Lyapunov stability theory and geometric homogeneity technique. The benefits of this design are that the proposed control can be easily implemented and ensures global finite-time stability with bounded control by selecting control gains a priori. Simulations and experimental results illustrate the expected performance of the proposed approach.

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References

Figures

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Fig. 1

Position errors comparison with the OPD+control

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Fig. 2

Position errors comparison with the SOPD+ control

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Fig. 3

Input torques of the OPD+ control

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Fig. 4

Input torques of the SOPD+ control

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Fig. 5

Input torques of the proposed SOFPD+ control

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Fig. 6

Position errors comparison with the OPD+ control

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Fig. 7

Position errors comparison with the SOPD+ control

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Fig. 8

Input torques of the OPD+ control

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Fig. 9

Input torques of the SOPD+ control

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Fig. 10

Input torques of the proposed SOFPD+ control

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Fig. 11

The robotic system experimental setup

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Fig. 12

Position errors comparison with the SOPD+ control

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Fig. 13

Output torques of the SOPD+ and SOFPD+ controls

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