Stabilization of Robots With a Regulator Containing the Sigmoid Mapping

Actuators nonlinearities are unknown external perturbations in robots, which are unwanted because they can severely limit their performance. This research is focused on the stabilization of robots subject to actuators nonlinearities with a regulator containing the sigmoid mapping. Our regulator has...

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Bibliographic Details
Published inIEEE access Vol. 8; pp. 89479 - 89488
Main Authors Martinez, Dany Ivan, De Rubio, Jose Jesus, Vargas, Tomas Miguel, Garcia, Victor, Ochoa, Genaro, Balcazar, Ricardo, Cruz, David Ricardo, Aguilar, Arturo, Novoa, Juan Francisco, Aguilar-Ibanez, Carlos
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
Manipulators
Mapping
Mobile robots
Perturbation methods
regulator
Regulators
robot
Robots
sigmoid
Stabilization
Uncertainty
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Summary:Actuators nonlinearities are unknown external perturbations in robots, which are unwanted because they can severely limit their performance. This research is focused on the stabilization of robots subject to actuators nonlinearities with a regulator containing the sigmoid mapping. Our regulator has the following three main characteristics: a) a sigmoid mapping is used to ensure boundedness of the regulator law terms, b) the chattering is reduced by the usage of the saturation mapping instead of the signum mapping, and c) the stabilization is ensured by the Lyapunov analysis. Finally, we evaluate our regulator for the stabilization of two robots.
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ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.2994004