Emeterio Aguinaga-Ruiz

Learn More
In this work, a globally stabilizing bounded controller for the trajectory tracking of robot manipulators with saturating inputs is proposed. It may be seen as an extension of the so-called PD+ algorithm to the bounded input case. With respect to previous works, our approach gives a global solution to the problem through a static controller. Moreover, it is(More)
In this work, two globally stabilizing bounded controllers for the tracking control of robot manipulators with saturating inputs are proposed. They may be seen as extensions of the so-called PD+ algorithm to the bounded input case. With respect to previous works, our approaches give a global solution to the problem through static feedback. Moreover, they(More)
  • 1