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Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs

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  • Robotics and Automation
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Abstract

In this paper, an output-feedback adaptive scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. Compared to the previous output-feedback adaptive approaches developed in a bounded-input context, the proposed free-of-velocity feedback controller guarantees the adaptive regulation objective: globally, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Moreover, the developed scheme is not restricted to the use of a specific saturation function to achieve the required boundedness, but may involve any one within a set of smooth and non-smooth (Lipschitz-continuous) bounded passive functions that include the hyperbolic tangent and the conventional saturation as particular cases. Experimental results corroborate the efficiency of the proposed scheme.

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Authors and Affiliations

  1. Instituto Potosino de Investigación Científica y Tecnológica, Camino a la Presa San José 2055, Lomas 4a. Sección 78216, San Luis Potosí, S.L.P., Mexico

    Daniela J. López-Araujo & Arturo Zavala-Río

  2. Instituto Tecnológico de la Laguna, Apdo. Postal 49, Adm. 1, 27001, Torreón, Coah., Mexico

    Víctor Santibáñez

  3. Benemérita Universidad Autónoma de Puebla, Blvd. Puebla 108, Bosques de San Sebastián, 72310, Puebla, Pue., Mexico

    Fernando Reyes

Authors
  1. Daniela J. López-Araujo
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  2. Arturo Zavala-Río
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  3. Víctor Santibáñez
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  4. Fernando Reyes
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Corresponding author

Correspondence to Arturo Zavala-Río.

Additional information

Recommended by Editorial Board member Youngjin Choi under the direction of Editor Hyungbo Shim.

The first and third authors were supported by CONACYT, Mexico (3rd author: Project No. 134534). One of the authors, V. Santibáñez, thanks José A. Yarza for his invaluable help during the experimental essays.

Daniela J. López-Araujo received her B.S. degree in Electronic Engineering from the Instituto Tecnologico de San Luis, Mexico; and her M.S. degree in Control and Dynamical Systems from the Instituto Potosino de Investigacion Cientifica y Tecnologica, Mexico, in 2005 and 2008 respectively. Her reaserch interests are modelling and control of nonlinear systems.

Arturo Zavala-Río received his B.S. degree in Electronic Systems Engineering and an M.S. degree in Control Engineering from the Instituto Tecnologico y de Estudios Superiores de Monterrey, Mexico, in 1989 and 1992 respectively, and his D.E.A. and Ph.D. degrees in Automatic Control from the Institut National Politechnique de Grenoble, France, in 1994 and 1997 respectively. He held professor-researcher positions at Universidad Autonoma de Queretaro (1999–2000), Mexico, and Universidad Autonoma de San Luis Potosi (2000–2001), Mexico. He has been visiting researcher at Mechanical Engineering Laboratory (1998), Japan, and Universite de Technologie de Compiegne (2001–2002), France. Since 2002, he is a full-time researcher at the Instituto Potosino de Investigacion Cientifica y Tecnologica, Mexico. His research topics focus on the modelling, analysis, and control of nonlinear systems, with particular interest in robot manipulators.

Víctor Santibáñez received his B.S. and M.Sc. degrees in Electronics Engineering from Instituto Tecnológico de la Laguna, Torreon, Mexico, in 1977 and 1984, respectively, and his Ph.D. degree from Centro de Investigación Científica y de Educación Superior de Ensenada Research Center, Ensenada, Mexico, in 1997. From 1977 to 1981, he was with the respective Industrial Electronics Departments of the iron and steel industry at Altos Hornos de Mexico and at Metalurgica Mexicana Peñoles. From 1989 to 1990, he was with the Instituto de Automatica Industrial, Consejo Superior de Investigaciones Científicas, Madrid, Spain. He is currently a Research Professor at the Instituto Tecnológico de la Laguna. His research interests are robot control, nonlinear systems control, and fuzzy control.

Fernando Reyes was born in Puebla, Mexico in March 7, 1962, and received his B.S. and M.Sc degrees in Electronics Engineering in 1984 and 1989 from Benemerita Universidad Autonoma de Puebla and INAOE, respectively. He received a Ph.D. in electronics at CICESE Center Research, Mexico in 1997. Since 1980, Dr. Reyes has been working at Benemerita Universidad Autonoma de Puebla. His research interests are in the fields on control of robot manipulators with special emphasis on practical applications. Dr. Reyes has published two books and many scientific papers in national and international conferences and journals.

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López-Araujo, D.J., Zavala-Río, A., Santibáñez, V. et al. Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs. Int. J. Control Autom. Syst. 11, 105–115 (2013). https://doi.org/10.1007/s12555-012-9203-4

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  • DOI: https://doi.org/10.1007/s12555-012-9203-4

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