Global trajectory tracking through output feedback for robot manipulators with bounded inputs. (English) Zbl 1234.93081

Summary: A globally stabilizing output feedback scheme for the trajectory tracking of robot manipulators with bounded inputs is proposed. It achieves the motion control objective avoiding input saturation and excluding velocity measurements. Moreover, it is not defined using a specific sigmoidal function, but any one on a set of saturation functions. Consequently, the proposed scheme actually constitutes a family of globally stabilizing output feedback bounded controllers. Furthermore, the control gains are not tied to satisfy any saturation-avoidance inequality and may consequently take any positive value, which may be considered beneficial for performance adjustment/improvement purposes. Further, a class of desired trajectories that may be globally tracked avoiding input saturation and excluding velocity measurements is completely characterized. Global asymptotic stabilization of the closed-loop system solutions towards the pre-specified desired trajectory is proved through a strict Lyapunov function. The efficiency of the proposed scheme is corroborated through experimental results.


93C85 Automated systems (robots, etc.) in control theory
93D15 Stabilization of systems by feedback
Full Text: DOI


[1] Kelly, Control of Robot Manipulators in Joint Space (2005)
[2] Paden, Globally asymptotically stable ’ PD+’ controller for robot manipulators, Int. J. Control 47 (6) pp 1697– (1988) · Zbl 0649.93052
[3] Khalil, Nonlinear Systems (2002)
[4] Krikelis, Design of tracking systems subject to actuator saturation and integrator wind-up, Int. J. Control 39 (4) pp 667– (1984) · Zbl 0532.93023
[5] Berghuis, A passivity approach to controller-observer design for robots, IEEE Trans. Robot. Autom. 9 (6) pp 740– (1993)
[6] Slotine, Adaptive manipulator control: A case study, IEEE Trans. Autom. Control 33 (11) pp 995– (1988) · Zbl 0664.93045
[7] Yang, Performance improvement of saturated system using loop shaping approach, Asian J. Control 11 (1) pp 66– (2009)
[8] Loría, Bounded output feedback tracking control of fully-actuated Euler-Lagrange systems, Syst. Control Lett. 33 (3) pp 151– (1998) · Zbl 0902.93034
[9] Santibáñez , V. R. Kelly Global asymptotic stability of bounded output feedback tracking control for robot manipulators 1378 1379
[10] Dixon, Tracking control of robot manipulators with bounded torque inputs, Robotica 17 (2) pp 121– (1999)
[11] Moreno-Valenzuela, A class of OFT controllers for torque-saturated robot manipulators: Lyapunov stability and experimental evaluation, J. Intell. Robot. Syst. 51 (1) pp 65– (2008) · Zbl 05537115
[12] Moreno-Valenzuela, On output feedback tracking control of robot manipulators with bounded torque input, Int. J. Control Autom. Syst. 6 (1) pp 76– (2008)
[13] Sciavicco, Modelling and Control of Robot Manipulators (2000)
[14] Aguinaga-Ruiz , E. A. Zavala-Río V. Santibánez F. Reyes Global trajectory tracking though static feedback for robot manipulators with input saturations 3516 3522
[15] Aguinaga-Ruiz, Global trajectory tracking though static feedback for robot manipulators with bounded inputs, IEEE Trans. Control Syst. Technol. 17 (4) pp 934– (2009)
[16] Ortega , R. A. Loría R. Kelly L. Praly On passivity-based output feedback global stabilization of Euler-Lagrange systems 381 386
[17] Reyes, Experimental evaluation of identification schemes on a direct-drive robot, Robotica 15 (5) pp 563– (1997)
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. It attempts to reflect the references listed in the original paper as accurately as possible without claiming the completeness or perfect precision of the matching.