PID based on attractive ellipsoid method for dynamic uncertain and external disturbances rejection in mechanical systems
Summary: This paper presents a stability analysis for LNDS (Lagrangian nonlinear dynamical systems) with dynamic uncertain using a PID controller with external disturbances rejection based on attractive ellipsoid methods, since the PID-CT (proportional integral derivative computed torque) compensator has been used for the nonlinear trajectory tracking of an LNDS, when there are external perturbations and system uncertainties. The global system convergence of the trivial solution has not been proved. In this sense, we propose an approach to find the gains of the nonlinear PID-CT controller to guarantee the boundedness of the trivial solution by means of the concept of the UUB (uniform-ultimately bounded) stability. In order to show the effectiveness of the methodology proposed, we applied it in a real 2-DoF robot system.
- Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances
- Control of nonlinear uncertain systems by extended PID with differential trackers
- Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations
- scientific article; zbMATH DE number 4152253
- Robust adaptive PID control of robot manipulator with bounded disturbances
- `KL'-gain adaptation for attractive ellipsoid method
- An adaptive PID learning control of robot manipulators
- scientific article; zbMATH DE number 194356 (Why is no real title available?)
- scientific article; zbMATH DE number 3447208 (Why is no real title available?)
- Nonlinear dynamical systems and control. A Lyapunov-based approach
- Nonlinear PI control of uncertain systems: an alternative to parameter adaptation.
- Robust stabilization of robotic manipulators by PID controllers
- Stability by Liapunov's direct method. With applications
- Stability theorems of perturbed linear ordinary differential equations
- Tracking for fully actuated mechanical systems: A geometric framework
- Variable structure systems: from principles to implementation
This page was built for publication: PID based on attractive ellipsoid method for dynamic uncertain and external disturbances rejection in mechanical systems
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1666372)
