Adaptive set-point control of robotic manipulators with amplitude-limited control inputs

This paper addresses the link position setpoint control problem of n-link r obotic manipulators with amplitude-limited control inputs. We design a glob al-asymptotic exact model knowledge controller and a semi-global asymptotic controller which adapts for parametric uncertainty. Explicit bounds for th ese controllers can be determined; hence, the required input torque can be calculated a priori so that actuator saturation can be avoided. We also ill ustrate how the proposed control algorithm in this paper can be slightly mo dified to produce a proportional-integral-derivative (PID) controller which contains a saturated integral term. Experimental results are provided to i llustrate the improved performance of the proposed control strategy over a standard adaptive controller that has been artificially limited to account for torque saturation.