In this note we consider tracking control of rigid robot systems under input constraints. Using the combination of two controllers we are able to obtain globally asymptotically stable closed-loop error-dynamics while keeping the applied actuator torques within in advance specified bounds. This idea is also exploited successfully in case only position measurements are available, or when parameter uncertainties call for an adaptive control scheme.
|Title of host publication||Proceedings of the 4th European Control Conference, Belgium, Brussels|
|Place of Publication||Waterloo|
|Number of pages||6|
|Publication status||Published - 1997|