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Robust stabilization of robotic manipulators by PID controllers
Department of Mechanics and Control Processes, St. Petersburg State Technical University, St. Petersburg, 195251, RUSSIA.
Department of Mathematics, Michigan State University, East Lansing, MI, 48824.ORCID iD: 0000-0003-0730-9441
1999 (English)In: Dynamics and control, ISSN 0925-4668, E-ISSN 1573-8450, Vol. 9, no 3, p. 203-222Article 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
Boston, The Netherlands: Kluwer Academic Publishers, 1999. Vol. 9, no 3, p. 203-222
Keyword [en]
robot control, global asymptotic stabilization, PID control, robustness, Lyapunov direct method, singular perturbation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-88148DOI: 10.1023/A:1008321920742ISI: 000081466000001OAI: oai:DiVA.org:umu-88148DiVA, id: diva2:713626
Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2018-06-08Bibliographically approved

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Freidovich, Leonid

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