@MASTERSTHESIS{ 2019:321131342,
 	title = {Control design for robotic manipulator systems subject to saturating actuators},
 	year = {2019},
 	url = "http://tede2.pucrs.br/tede2/handle/tede/9046",
 	abstract = "This Dissertation proposes a systematic control design procedure for planar robotic manipulator systems via semidefinite programming. The fundamental idea is to represent the body orientation in terms of quaternions and to express the system equations of motion in the differentialalgebraic representation. This approach allows us to synthesize a state feedback controller by a convex optimization problem subject to Linear Matrix Inequalities, in order to ensure the closed-loop asymptotic and exponential stability. This method is able to provide rigorous theoretical guarantees considering the nonlinear dynamics involved in a robotic manipulator system, without resorting to any kind of linearization or approximation. Furthermore, the proposed framework, which is based on linear matrix inequalities, is highly versatile for extensions. To demonstrate this point, this Dissertation also addresses the control input saturation in the control design. Numerical examples of the nonlinear 2-link robotic manipulator with and without input saturation are provided to illustrate our proposed method.",
 	publisher = {Pontif?cia Universidade Cat?lica do Rio Grande do Sul},
 	scholl = {Programa de P?s-Gradua??o em Engenharia El?trica},
 	note = {Escola Polit?cnica}
}