A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs

DOI10.1080/00207179.2015.1027272zbMath1334.93129DBLPjournals/ijcon/MendozaZSC15OpenAlexW2048184451WikidataQ56426674 ScholiaQ56426674MaRDI QIDQ2799235

Arturo Zavala-Rio, Victor Santibáñez, Marco Mendoza, Fernando Reyes

Publication date: 8 April 2016

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2015.1027272

zbMATH Keywords

PID controlrobot manipulatorsbounded inputsglobal regulationsimple tuning

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (7)

Global asymptotic stability of input-saturated one degree-of-freedom Euler–Lagrange systems with Rayleigh dissipation under nonlinear control ⋮ A stochastic PID controller for a class of MIMO systems ⋮ Adaptive H₂/H_∞ tracking control for a class of uncertain robotic systems ⋮ Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments ⋮ An optimal stochastic multivariable PID controller: a direct output tracking approach ⋮ Saturating stiffness control of robot manipulators with bounded inputs ⋮ Adaptive PID control based on orthogonal endocrine neural networks

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• Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
• New tuning conditions for a class of nonlinear PID global regulators of robot manipulators

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