Journal
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
Volume 29, Issue 2, Pages 180-200Publisher
WILEY-BLACKWELL
DOI: 10.1002/acs.2466
Keywords
adaptive control; global tracking; bounded inputs; robot manipulators; saturation
Funding
- CONACYT, Mexico [134534]
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In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a general class of saturation functions. Compared with adaptive tracking control algorithms previously developed in a bounded input context, the proposed adaptive approach guarantees the motion control objective for any initial condition, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and permitting innovation on the saturating structure through its generalized form, giving a wide range of possibilities for performance improvement. Experimental results corroborate the efficiency of the proposed scheme. Copyright (c) 2014 John Wiley & Sons, Ltd.
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