Adaptive Robotic Control Based on a Filter Function Under the Saturation of Actuators

摘要

On the fault tolerant control of robotic manipulators under the saturation of actuators, a tracking controller with bounded feedback is designed in this article, which is based on gravity compensation and a filter function. An adaptive controller is presented to compensate the variance of gravity online. Both of them are proved to be semi-global asymptotic stable. Simulation results on the two-link robotic manipulators demonstrate the validity of the controllers and the stability of the closed-loop systems