%0 Journal Article
%T Trajectory tracking control for robot manipulators with bounded inputs based on the singular perturbation theory<br>基于奇异摄动理论的输入有界机器人轨迹跟踪控制
%A LIU Hua-shan
%A ZHU Shi-qiang
%A WU Jian-bo
%A YAN Sha-sha
%A <br>刘华山
%A 朱世强
%A 吴剑波
%A 闫莎莎
%J 控制理论与应用
%D 2009
%I 
%X To meet the requirement of a bounded driving torque in the robot trajectory tracking, we propose a generalized algorithm based on the stability theory of singularly perturbed systems. A saturation function with error gain is introduced in the control law, which guarantees the absolute value of the input torque to be upper-bounded within any specified range. Besides, a better tracking performance can be achieved by properly adjusting the error gains. In the meantime, a pseudo velocity error signal for substituting the actual one is generated from a linear filter containing only the position tracking error, thus, making the whole closed-loop control free from the velocity measurement. Based on the proposed algorithm, we design a novel control law with a bounded input. Comparison of simulation results show that the proposed algorithm can strictly ensure the specified bound for the inputs to the torque controller, and gives a better tracking result than the other ones under the same parameter conditions.
%K robot
%K trajectory tracking
%K singular perturbation
%K bounded input<br>机器人
%K 轨迹跟踪
%K 奇异摄动
%K 输入有界
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=6AC626D129E1748A68E440D049E28067&yid=DE12191FBD62783C&vid=96C778EE049EE47D&iid=59906B3B2830C2C5&sid=40DE18199B7CA9BB&eid=CB8F7B3BEDA8D32B&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=14