文章基本信息

标题：A convex optimization based solution for the robotic manipulator control design problem subject to input saturation ⁎
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作者：Eduardo S. Saraiva ; Rafael S. Castro ; Aurélio T. Salton 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5467-5472
DOI：10.1016/j.ifacol.2020.12.1551
语种：English
出版社：Elsevier
摘要：AbstractThis paper proposes a state-feedback design procedure for robotic manipulator systems with saturating actuators, a solution which is based on convex optimization subject to constraints in the form of linear matrix inequalities. Our fundamental idea is to express the system dynamics in a novel differential-algebraic representation with state-derivative components. This approach allows us to provide a systematic control design framework with formal theoretical guarantees, such as the asymptotic stabilization of the manipulator attitude reference error within a prescribed exponential decay-rate. Our method is capable of dealing with the nonlinearities of a mechanical manipulator system, including the input saturation effect, without relying on any kind of linearization or approximation. A two-link planar robotic manipulator example is employed in order to illustrate the proposed approach.
关键词：KeywordsRobotic Manipulator ControlLinear Matrix InequalitiesDifferential-Algebraic RepresentationInput Saturation