Improving performance of saturation-based PID controllers for rigid robots

DOI10.1002/ASJC.282zbMath1222.93156OpenAlexW2148268301MaRDI QIDQ3018568

Victor Manuel Hernández-Guzmán, Ramón Silva-Ortigoza

Publication date: 27 July 2011

Published in: Asian Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/asjc.282

zbMATH Keywords

Lyapunov stabilityPID controlrobot controltuning procedureposition regulation

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Related Items (6)

Global PID Control of Robot Manipulators Equipped with PMSMs ⋮ Guaranteed Cost Stabilization of Cellular Neural Networks with Time‐Varying Delay ⋮ A Measurement-Based Approach for Designing Fixed-Order Controllers for Unknown Closed-Loop Architecture ⋮ Robust H _∞ Tracking Control of Uncertain Robotic Systems with Periodic Disturbances ⋮ PID control of robot manipulators actuated by BLDC motors ⋮ PD control for robot manipulators actuated by switched reluctance motors

Cites Work

• Direct adaptive impedance control including transition phases
• Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
• Global Positioning of Robot Manipulators With Mixed Revolute and Prismatic Joints

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