Global Adaptive Regulation of Robot Manipulators With Bounded Inputs

摘要

In this work, an SP-SD-type control scheme with adaptive gravity compensation for the global regulation of robot manipulators with bounded inputs is proposed. As far as the authors are aware, the developed adaptive controller is the first one that guarantees the regulation objective: globally, avoiding discontinuities in the control expression as well as in the adaptation auxiliary dynamics, avoiding input saturation, and imposing no saturation-avoidance restriction on the choice of the control gains. Experimental results show the efficiency of the proposed adaptive scheme.