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Family of bounded regulators with variable gains and Lyapunov asymptotic stability for robot manipulators
Cita
Sánchez García, Brandon, Reyes Cortés, Fernando and Al-Hadithi, Basil Mohammed 
ORCID: https://orcid.org/0000-0002-8786-5511
(2022).
Family of bounded regulators with variable gains and Lyapunov asymptotic stability for robot manipulators.
"IEEE Latin America Transactions", v. 20
(n. 6);
pp. 955-962.
ISSN 1548-0992.
https://doi.org/10.1109/TLA.2022.9757738.
ORCID: https://orcid.org/0000-0002-8786-5511
(2022).
Family of bounded regulators with variable gains and Lyapunov asymptotic stability for robot manipulators.
"IEEE Latin America Transactions", v. 20
(n. 6);
pp. 955-962.
ISSN 1548-0992.
https://doi.org/10.1109/TLA.2022.9757738.
Descripción
| Título: | Family of bounded regulators with variable gains and Lyapunov asymptotic stability for robot manipulators |
|---|---|
| Autor/es: |
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| Tipo de Documento: | Artículo |
| Título de Revista/Publicación: | IEEE Latin America Transactions |
| Fecha: | 14 Abril 2022 |
| ISSN: | 1548-0992 |
| Volumen: | 20 |
| Número: | 6 |
| Materias: | |
| ODS: | |
| Palabras Clave Informales: | Variable Gains, Lyapunov Asymptotic Stability, Robot Manipulators, Saturation, Regulators Family |
| Escuela: | E.T.S.I. Diseño Industrial (UPM) |
| Departamento: | Ingeniería Eléctrica, Electrónica Automática y Física Aplicada |
| Licencias Creative Commons: | Reconocimiento - Sin obra derivada - No comercial |
Resumen
In this paper, the regulation problem for robot manipulators in joint space through the proposal of a new family of bounded regulators with variable gains is presented. The proposed regulators have bounded functions that replace the classical position error and the velocity; moreover, the variable gains are formed by a family of Lipchitz functions with the position error and the velocity as their arguments. This structure avoids exceeding the physical limits of the servomotors. A strict Lyapunov function is proposed to demonstrate the global and asymptotic stability. Finally, the functionality and performance of the proposal are examined by experimental results on a direct-drive-robot of 3-degrees-of-freedom against the PD regulator
Más información
| ID de Registro: | 87972 |
|---|---|
| Identificador DC: | https://oa.upm.es/87972/ |
| Identificador OAI: | oai:oa.upm.es:87972 |
| URL Portal Científico: | https://portalcientifico.upm.es/es/ipublic/item/9915003 |
| Identificador DOI: | 10.1109/TLA.2022.9757738 |
| URL Oficial: | https://ieeexplore.ieee.org/document/9757738 |
| Depositado por: | iMarina Portal Científico |
| Depositado el: | 24 Feb 2025 09:14 |
| Ultima Modificación: | 24 Feb 2025 09:27 |
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