Globally stable PID-like control of mechanical systems

DOI10.1016/S0167-6911(99)00047-XMaRDI QIDQ1960652zbMATH OpenOpenAlexFDO

Authors R. Gorez

Publication date 12 January 2000

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0167-6911(99)00047-x

zbMATH Keywords

stabilitynonlinear systemsstabilizationbounded controlinput saturationrobot controlPID controlcontrol of mechanical systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10) Stabilization of systems by feedback (93D15)

Recommendations

• Global stabilisation of underactuated mechanical systems via PID passivity-based control
• PID regulation of robot manipulators: stability and performance
• PID position regulation in one-degree-of-freedom Euler–Lagrange systems actuated by a PMSM
• scientific article; zbMATH DE number 4152253
• On the PID tracking control of robot manipulators

Cites work

• scientific article; zbMATH DE number 1001723 (Why is no real title available?)
• scientific article; zbMATH DE number 46299 (Why is no real title available?)
• scientific article; zbMATH DE number 3528420 (Why is no real title available?)
• scientific article; zbMATH DE number 931789 (Why is no real title available?)
• A New Feedback Method for Dynamic Control of Manipulators
• Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
• Constructive nonlinear control
• Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
• Global regulation of robots using only position measurements
• Modelling and control of robot manipulators.
• On global regulation of robot manipulators: Saturated linear state feedback and saturated linear output feedback
• On passivity‐based output feedback global stabilization of euler‐lagrange systems
• Stability theory by Liapunov's direct method

Cited in

(11)

• Global continuous finite-time tracking of robot manipulators
• Discussion on: ``Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances
• Nonlinear regulators in the position stabilization problem of the holonomic mechanical system
• PID trajectory tracking control for mechanical systems.
• Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system
• PD control with gravity compensation for hydraulic 6-DOF parallel manipulator
• PID control for global finite-time regulation of robotic manipulators
• A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs
• PID position regulation in one-degree-of-freedom Euler–Lagrange systems actuated by a PMSM
• Global stabilisation of underactuated mechanical systems via PID passivity-based control
• Globally robust nonlinear PID controllers for robot manipulators with an uncertain Jacobian matrix

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