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CLC number: TP24

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Received: 2008-10-18

Revision Accepted: 2009-04-04

Crosschecked: 2009-08-14

Cited: 6

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Citations:  Bibtex RefMan EndNote GB/T7714

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Journal of Zhejiang University SCIENCE A 2009 Vol.10 No.10 P.1500~1508


A generalized trajectory tracking controller for robot manipulators with bounded inputs

Author(s):  Hua-shan LIU, Shi-qiang ZHU

Affiliation(s):  State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   watson683@163.com

Key Words:  Robot, Tracking control, Singular perturbation, Bounded input

Hua-shan LIU, Shi-qiang ZHU. A generalized trajectory tracking controller for robot manipulators with bounded inputs[J]. Journal of Zhejiang University Science A, 2009, 10(10): 1500~1508.

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author="Hua-shan LIU, Shi-qiang ZHU",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

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%T A generalized trajectory tracking controller for robot manipulators with bounded inputs
%A Hua-shan LIU
%A Shi-qiang ZHU
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%@ 1673-565X
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A0820725

T1 - A generalized trajectory tracking controller for robot manipulators with bounded inputs
A1 - Hua-shan LIU
A1 - Shi-qiang ZHU
J0 - Journal of Zhejiang University Science A
VL - 10
IS - 10
SP - 1500
EP - 1508
%@ 1673-565X
Y1 - 2009
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A0820725

A generalized controller based on stability theory of singularly perturbed systems is proposed, to deal with the problem of bounded actuator inputs in robot trajectory tracking control. The saturation function with error-gain matrix is applied in the torque control law, which ensures the upper bound of torque inputs in any given limited range. Through appropriately setting the entries of the error-gain matrix, the tracking performance can be improved. Moreover, a pseudo signal is generated from a linear filter to substitute for the actual velocity error, eliminating the need for velocity measurements. Finally, to verify the effectiveness of the generalized controller, a new saturated controller with error-gain-contained arc tangent function is designed. Comparison experiments show that the proposed controller can strictly guarantee the bound of the torque inputs in situations with non-zero initial tracking errors, and gives a better tracking result than other controllers.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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