Abstract
In this chapter we provide a high performance solution to the anti-windup problem for control systems of robot manipulators undergoing actuator torque saturation. Based on the preliminary work of [10], we provide here improved anti-windup laws based on simple and intuitive parameter tuning. Global asymptotic (and local exponential) stability of the arising closed loops is formally proven for set-point regulation tasks and demonstrated on a simulation example. The simulation examples also show dramatic improvements as compared to previous results.
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Morabito, F., Nicosia, S., Teel, A.R., Zaccarian, L. Measuring and Improving Performance in Anti-Windup Laws for Robot Manipulators. In: Siciliano, B., Melchiorri, C., De Luca, A., Casalino, G. (eds) Advances in Control of Articulated and Mobile Robots. Springer Tracts in Advanced Robotics, vol 10. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-44410-7_3
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DOI: https://doi.org/10.1007/978-3-540-44410-7_3
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-20783-2
Online ISBN: 978-3-540-44410-7
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