Nonsmooth Feedback Control for Lagrange Systems with Input Saturation

被引：0

作者：

Gu Jinbai ^{[1
]}

Zheng Kai ^{[1
]}

Du Jialu ^{[1
]}

Wang Xingcheng ^{[1
]}

机构：

[1] Dalian Maritime Univ, Informat Sci & Technol Coll, Dalian 116026, Peoples R China

来源：

2011 30TH CHINESE CONTROL CONFERENCE (CCC) | 2011年

关键词：

Input saturation; Lagrange system; Nonsmooth feedback; TRACKING CONTROL; ROBOT; DESIGN; MANIPULATORS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For the motion control of a class of Lagrange systems, a new design method based on nonsmooth design technology is considered to overcome the input saturation of the system. The feedback gain of the controller is designed according to the different regions which the tracking errors belong to. Moreover, a sufficient condition is proposed to ensure that the output of the controller is within the constraint of the system. Then, the trade-off between the high gain feedback and the input constraint is realized. Shown by simulations, the new design is more effective than the usual designs.

引用

页码：676 / 681

页数：6

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