Globally stable PID-like control of mechanical systems
DOI10.1016/S0167-6911(99)00047-XzbMATH Open0948.93022OpenAlexW2030593149MaRDI QIDQ1960652FDOQ1960652
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
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stabilitynonlinear systemsstabilizationbounded controlinput saturationrobot controlPID controlcontrol of mechanical systems
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)
Cites Work
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- On global regulation of robot manipulators: Saturated linear state feedback and saturated linear output feedback
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- Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
- On passivity‐based output feedback global stabilization of euler‐lagrange systems
- Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
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
- Globally robust nonlinear PID controllers for robot manipulators with an uncertain Jacobian matrix
- Global stabilisation of underactuated mechanical systems via PID passivity-based control
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