A Simple Bounded Output Feedback Finite-time Regulator for Robot Manipulators Under Actuator Saturations

A Simple Bounded Output Feedback Finite-time Regulator for Robot Manipulators Under Actuator Saturations | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article A Simple Bounded Output Feedback Finite-time Regulator for Robot Manipulators Under Actuator Saturations Leijuan Ma, Xiang Ji, Haihong Wang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7470593/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract A simple bounded output feedback PD plus gravity compensation (PD+) regulator is presented for global finite-time stabilization of robot manipulators subject to actuator saturations. Lyapunov stability theory and geometric homogeneity technique are used to prove the global finite-time stability. Advantages of the presented regulator are the easy implementation and global finite-time stabilization with an ability to guarantee actuator torques within their prescribed constraints by selecting control gains a priori, regardless the initial conditions. Simulations results verify the improved performance of the proposed control scheme. Physical sciences/Engineering Physical sciences/Mathematics and computing Actuator saturation robot manipulators global finite-time stability output feedback control position regulator Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7470593","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":584701426,"identity":"056554ab-f472-4378-beef-9a4a3ff2fddd","order_by":0,"name":"Leijuan Ma","email":"","orcid":"","institution":"Henan Polytechnic Institute","correspondingAuthor":false,"prefix":"","firstName":"Leijuan","middleName":"","lastName":"Ma","suffix":""},{"id":584701427,"identity":"8690049b-51a3-4797-93f9-346afef7842b","order_by":1,"name":"Xiang Ji","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAuklEQVRIiWNgGAWjYBACNvbmAwYfKmx4+InWwsdzLKFwxpk0OckGYrXISeQYfOZtO2xscIBoh0mkJW6cwZaWuPl48gaGHxXbiNDC8/iwwQcem8RtZ54VMPacuU2EFva0NMMZQKu23cgxYGZsI0YLQ475bx6Dw4mbZxCthSPHwJgnAeh9CaK1AAPZcMaBNDkJoF8OEuUX+XZgVH78B4zK9uSND35UEKEFCSQQHzUILaTqGAWjYBSMghECANFZQEtWcuVbAAAAAElFTkSuQmCC","orcid":"","institution":"Henan Polytechnic Institute","correspondingAuthor":true,"prefix":"","firstName":"Xiang","middleName":"","lastName":"Ji","suffix":""},{"id":584701428,"identity":"f2d6273b-288b-40d9-8444-ea76e34c66db","order_by":2,"name":"Haihong Wang","email":"","orcid":"","institution":"Henan Polytechnic Institute","correspondingAuthor":false,"prefix":"","firstName":"Haihong","middleName":"","lastName":"Wang","suffix":""}],"badges":[],"createdAt":"2025-08-27 10:23:12","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-7470593/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-7470593/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":107694300,"identity":"89bcaf2d-83cf-4253-83ef-7d161be1d374","added_by":"auto","created_at":"2026-04-24 06:41:29","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":240206,"visible":true,"origin":"","legend":"","description":"","filename":"chugao2025.9.6.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7470593/v1_covered_ba257b0b-302d-44e8-8c74-71cf04be0077.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"A Simple Bounded Output Feedback Finite-time Regulator for Robot Manipulators Under Actuator Saturations","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Actuator saturation, robot manipulators, global finite-time stability, output feedback control, position regulator","lastPublishedDoi":"10.21203/rs.3.rs-7470593/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7470593/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"A simple bounded output feedback PD plus gravity compensation (PD+) regulator is presented for global finite-time stabilization of robot manipulators subject to actuator saturations. 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