Robust stabilization of robotic manipulators by PID controllers (Q1306881)

This paper presents a systematic review of robust PID controllers applied to rigid and flexible joints robotic manipulators. Several new results have been stated and proved in a mathematically rigorous way, based on the Lyapunov function approach combined with the singular perturbation approach. These results are the following: 1. In the point-to-point control of rigid manipulators a PID controller with gravity compensation stabilizes the closed loop system asymptotically. Controller gains estimates have been established for which an exponential stability is achieved. Also, the global asymptotic stability of a rigid manipulator equipped with a PID controller with saturated integral part is proved. 2. In the case of trajectory tracking in rigid manipulators a PID controller provides an ultimately uniformly bounded tracking error. 3. In the point-to-point control of manipulator joint position for flexible joints manipulators, a PD controller with gravity compensation leads to a steady-state error of controlled magnitude, while a PID controller stabilizes the manipulator joint position asymptotically and globally.