Novel Anti-windup PID Controller Design under Holonomic Endpoint Constraints for Euler-Lagrange Systems with Actuator Saturation

A novel anti-windup PID controller design method under holonomic constraints is proposed for nonlinear Euler-Lagrange systems with actuator saturation. The controller design is based on passivity, quasi-natural potential and saturated-position feedback. According to four saturation cases, switching of four integrating functions in the control law is utilized and four Lyapunov functions, such as hybrid control, are derived. Global asymptotic stability is ensured by energy dissipation between the four Lyapunov functions. The control performance is verified by numerical simulations using a two-link robot arm.