Semiglobal stability of saturated linear PID control for robot manipulators

DOI10.1016/S0005-1098(03)00035-9zbMath1021.93027DBLPjournals/automatica/Alvarez-RamirezKC03OpenAlexW1980246867WikidataQ56419919 ScholiaQ56419919MaRDI QIDQ1810565

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

Publication date: 9 June 2003

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(03)00035-9

zbMATH Keywords

stabilitysingular perturbationPID controlbounded controlrobot systemsuncertain gravitational torques

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Time-scale analysis and singular perturbations in control/observation systems (93C70) Asymptotic stability in control theory (93D20) Robot dynamics and control of rigid bodies (70E60)

Related Items (7)

Towards a theoretical foundation of PID control for uncertain nonlinear systems ⋮ PID control for global finite-time regulation of robotic manipulators ⋮ Nonlinear regulators in the position stabilization problem of the holonomic mechanical system ⋮ Globally asymptotically stable saturated PID controllers for a double integrator with constant disturbance ⋮ Disturbance compensation based finite-time tracking control of rigid manipulator ⋮ A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs ⋮ PD control with on-line gravity compensation for robots with elastic joints: theory and experiments

Cites Work

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• Nonlinear oscillations, dynamical systems, and bifurcations of vector fields
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• An observer-based set-point controller for robot manipulators with flexible joints
• On global regulation of robot manipulators: Saturated linear state feedback and saturated linear output feedback
• Asymptotic stability in singular perturbation problems. II: Problems having matched asymptotic expansion solutions
• A New Feedback Method for Dynamic Control of Manipulators
• On global output feedback regulation of Euler-Lagrange systems with bounded inputs

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