Saturated regulation with derivative variable gain for robot manipulators [Regulación Saturada con Ganancia Variable Derivativa de Robots Manipuladores]

In this paper a family with a large number of hyperbolictype saturated regulators for robot manipulators, was presented. The proposed regulators consider a constant proportional gain while the derivative variable gain is self-tuned according to a function that depends on the position error, speed of motion and a damping factor, in order to modify the velocity of the transient response of the robot. The derivative control with variable gain enables reduced overshots, oscillations and ripple, enabling a smooth arrival to the steady state. The paper also proposes a strict Lyapunov function which enables the demonstration of asymptotic global stability of the closed-loop equation. In order to illustrate the performance and functionality of the proposed family of control schemes, an experimental comparison between seven control schemes was implemented. Five of these control schemes belong to the proposed family while two additional control schemes are well-known strategies such as the proportional-derivative (PD) and hyperbolic tangent (Tanh) control schemes. The experiments were performed by using a three degree-of-freedom, direct-drive robot manipulator. © 2016 CEA.

Algoritmos de control; Función de saturación; Ganancia Variable; Manipulador robótico; Palabras clave Regulador Degrees of freedom (mechanics); Flexible manipulators; Industrial robots; Lyapunov functions; Modular robots; Robot applications; Robots; Closed loop equations; Direct-drive robot manipulators; Experimental comparison; Ganancia Variable; Hyperbolic tangent; Palabras clave Regulador; Proportional derivatives; Three degree of freedoms; Manipulators

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