Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix

DOI10.3724/SP.J.1004.2008.01113zbMath1174.93439MaRDI QIDQ5319766

Chunqing Huang, Xiafu Peng, Jun-Ping Wang

Publication date: 22 July 2009

Published in: Acta Automatica Sinica (Search for Journal in Brave)

zbMATH Keywords

robot manipulatoruncertain Jacobian matrixrobust nonlinear PID controllers

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

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