Improving performance of saturation-based PID controllers for rigid robots

DOI10.1002/ASJC.282MaRDI QIDQ3018568zbMATH OpenOpenAlexFDO

Authors V. M. Hernández-Guzmán, Ramón Silva-Ortigoza

Publication date 27 July 2011

Published in Asian Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/asjc.282

zbMATH Keywords

Lyapunov stabilityPID controlposition regulationrobot controltuning procedure

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• PID regulation of robot manipulators: stability and performance
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• A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs

Cites work

• Direct adaptive impedance control including transition phases
• Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
• Global Positioning of Robot Manipulators With Mixed Revolute and Prismatic Joints

Cited in

(7)

• A measurement-based approach for designing fixed-order controllers for unknown closed-loop architecture
• Robust H_ tracking control of uncertain robotic systems with periodic disturbances
• PD control for robot manipulators actuated by switched reluctance motors
• Global PID control of robot manipulators equipped with PMSMs
• Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations
• Guaranteed cost stabilization of cellular neural networks with time-varying delay
• PID control of robot manipulators actuated by BLDC motors

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