| Zamora-Gomez, Griselda I. | Inst. Potosino De Investigacion Cientifica Y Tecnologica |
| Zavala-Rio, Arturo | Inst. Potosino De Investigacion Cientifica Y Tecnologica |
| Lopez-Araujo, Daniela J. | Centro De Investigación En Ciencias De Información Geoespacial |
| Santibanez, Victor | Inst. Tecnologico De La Laguna |
Resumen: A global continuous control scheme for the finite-time or (local) exponential stabilization of robot manipulators with bounded inputs is developed involving desired gravity compensation. With respect to the on-line compensation case, the proposed controller entails a more complex closed-loop analysis, whence more involved requirement arise. Other important analytical limitations are further overcome through the developed algorithm. Computer simulations considering a robotic arm model corroborate the efficiency of the proposed controller.
¿Cómo citar?
Griselda I. Zamora-Gómez, Arturo Zavala-Río, Daniela J. López-Araujo & Víctor Santibáñez. Global Continuous Control with Desired Gravity Compensation for the Finite-Time and Exponential Stabilization of Robot Manipulators with Constrained Inputs. Memorias del Congreso Nacional de Control Automático, pp. 66-71, 2018.
Palabras clave
Finite-time stabilization, robot manipulators, desired gravity compensation, bounded inputs
Referencias
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