Semiglobal stability of saturated linear PID control for robot manipulators (Q1810565)
From MaRDI portal
scientific article
Language | Label | Description | Also known as |
---|---|---|---|
English | Semiglobal stability of saturated linear PID control for robot manipulators |
scientific article |
Statements
Semiglobal stability of saturated linear PID control for robot manipulators (English)
0 references
9 June 2003
0 references
The authors of this paper consider the position regulation problem for robotic manipulators with constraints on their control inputs. They prove that the robot system under a saturated linear proportional-integral-derivative control is semi-globally asymptotically stable provided that the torque bounds exceed the gravitational torques, the proportional gain is large enough, and the integral gain is small enough. The authors' stability analysis uses the tools of singular perturbation theory. The analyses are supplemented by simulations of a two degree-of-freedom robot arm.
0 references
bounded control
0 references
robot systems
0 references
PID control
0 references
uncertain gravitational torques
0 references
stability
0 references
singular perturbation
0 references
0 references
0 references