PID regulation of robot manipulators: stability and performance

DOI10.1016/S0167-6911(00)00038-4zbMath0985.93038OpenAlexW2005249374MaRDI QIDQ1583209

Rafael Kelly, Ilse Cervantes, José de Jesús Álvarez-Ramírez

Publication date: 26 October 2000

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(00)00038-4

zbMATH Keywords

robust stabilityPID controlrobot manipulatorsrobust performance

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Robot dynamics and control of rigid bodies (70E60)

Related Items (7)

Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations ⋮ Adaptive <scp>PID</scp> control of robotic manipulators without equality/inequality constraints on control gains ⋮ Nonlinear regulators in the position stabilization problem of the holonomic mechanical system ⋮ Discussion on: ``Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances ⋮ Globally robust nonlinear PID controllers for robot manipulators with an uncertain jacobian matrix ⋮ New tuning conditions for a class of nonlinear PID global regulators of robot manipulators ⋮ Dynamic controller design for a class of nonlinear uncertain systems subjected to time-varying disturbance

Cites Work

• Unnamed Item
• A unified framework for the study of anti-windup designs
• Asymptotic stability in singular perturbation problems. II: Problems having matched asymptotic expansion solutions
• Adaptive control of feedback linearizable systems: a modelling error compensation approach
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators

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