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Robust stabilization of robotic manipulators by PID controllers
St. Petersburg State Polytechnical University.
Michigan State University.
1999 (English)In: Dynamics and control, ISSN 0925-4668, E-ISSN 1573-8450, Vol. 9, 203-222 p.Article in journal (Refereed) Published
Abstract [en]

A class of (directly and non-directly) controlled Lagrangian systems is considered. After a brief overview of known control laws, the main attention is paid to the most simple and the most popular PD, PID or PID-like controllers broadly used in robotics which are analyzed in details. New results demonstrating in particular robustness of closed-loop systems with respect to uncertainty in model description are shown. The efficiency of PID-like controllers for flexible joint robotic manipulators based on measurements of rotors velocities and links positions is investigated in detail also.

Place, publisher, year, edition, pages
Kluwer Academic Publishers , 1999. Vol. 9, 203-222 p.
Keyword [en]
robot control; global asymptotic stabilization; PID control; robustness; Lyapunov direct method; singular perturbation
URN: urn:nbn:se:umu:diva-37720OAI: diva2:369726
Available from: 2010-11-23 Created: 2010-11-11 Last updated: 2010-11-23Bibliographically approved

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Freidovich, Leonid B.
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