Global Asymptotic Saturated PID Control for Robot Manipulators

This paper addresses the global asymptotic regulation of robot manipulators under input constraints, both with and without velocity measurements. It is proven that robot systems subject to bounded inputs can be globally asymptotically stabilized via a saturated proportional-integral-derivative (PID) control in agreement with Lyapunov's direct method and LaSalle's invariance principle. Advantages of the proposed controller include an absence of modeling parameters in the control law formulation and an ability to ensure actuator constraints are not breached. This is accomplished by selecting control gains a priori, removing the possibility of actuator failure due to excessive torque input levels. The effectiveness of the proposed approach is illustrated via simulations.