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- W4210351657 abstract "In this paper, the stability of PD-type controllers plus gravity compensation for position regulation of input-saturated robot manipulators is discussed, where symmetrical hard saturation functions are employed to model the input constraints. Based on Lyapunov’s theory, a change of variable and a proper representation of the control input, it is shown that the closed–loop equilibrium point for the studied class of PD-type controllers plus gravity compensation is asymptotically stable. Furthermore, an estimate of the region of attraction by means of a level set of the Lyapunov function is given, showing that this region can arbitrarily be enlarged by the controller gains, even in the presence of input saturation. Thus, semiglobal asymptotic stability is achieved. A case study using a crank-slider mechanism is included where simulation results illustrate the concepts developed." @default.
- W4210351657 created "2022-02-08" @default.
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- W4210351657 date "2021-12-14" @default.
- W4210351657 modified "2023-10-17" @default.
- W4210351657 title "Semiglobal asymptotic stability of nonlinear PD-type plus gravity compensation controllers for input-saturated robot manipulators ∗" @default.
- W4210351657 doi "https://doi.org/10.1109/cdc45484.2021.9683469" @default.
- W4210351657 hasPublicationYear "2021" @default.
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