Trajectory tracking control for robot manipulators with bounded inputs based on the singular perturbation theory
基于奇异摄动理论的输入有界机器人轨迹跟踪控制

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.