Globally stable PID-like control of mechanical systems

DOI10.1016/S0167-6911(99)00047-XzbMath0948.93022OpenAlexW2030593149MaRDI QIDQ1960652

Raymond Gorez

Publication date: 12 January 2000

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

Full work available at URL: https://doi.org/10.1016/s0167-6911(99)00047-x

zbMATH Keywords

stabilitystabilizationnonlinear systemsPID controlinput saturationcontrol of mechanical systemsbounded controlrobot control

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Design techniques (robust design, computer-aided design, etc.) (93B51) Control of mechanical systems (70Q05)

Related Items (8)

PID position regulation in one-degree-of-freedom Euler–Lagrange systems actuated by a PMSM ⋮ PID control for global finite-time regulation of robotic manipulators ⋮ Nonlinear regulators in the position stabilization problem of the holonomic mechanical system ⋮ Global continuous finite-time tracking of robot manipulators ⋮ 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 ⋮ PD control with gravity compensation for hydraulic 6-DOF parallel manipulator ⋮ A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs

Cites Work

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• Modelling and control of robot manipulators.
• Constructive nonlinear control
• A New Feedback Method for Dynamic Control of Manipulators
• Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
• On passivity‐based output feedback global stabilization of euler‐lagrange systems

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