Robust stabilization of robotic manipulators by PID controllers
1999 (English)In: Dynamics and control, ISSN 0925-4668, E-ISSN 1573-8450, Vol. 9, no 3, 203-222 p.Article in journal (Refereed) Published
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
Boston, The Netherlands: Kluwer Academic Publishers, 1999. Vol. 9, no 3, 203-222 p.
robot control, global asymptotic stabilization, PID control, robustness, Lyapunov direct method, singular perturbation
IdentifiersURN: urn:nbn:se:umu:diva-88148DOI: 10.1023/A:1008321920742ISI: 000081466000001OAI: oai:DiVA.org:umu-88148DiVA: diva2:713626