A class of nonlinear PD-type controllers for robot manipulators

DOI10.1002/(SICI)1097-4563(199612)13:12%3C793::AID-ROB2%3E3.0.CO;2-QMaRDI QIDQ4359899zbMATH OpenOpenAlexFDO

Authors Rafael Kelly, Ricardo Carelli

Publication date 20 October 1997

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199612)13:12%3C793::aid-rob2%3E3.0.co;2-q

zbMATH Keywords

global asymptotic stabilitymotion controlglobal regulatortwo-degrees-of-freedom direct drive arm

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

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Cites work

• A New Feedback Method for Dynamic Control of Manipulators
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
• Robustness analysis of a pd controller with approximate gravity compensation for robot manipulator control

Cited in

(23)

• scientific article; zbMATH DE number 1437292 (Why is no real title available?)
• Design of augmented nonlinear PD controller of delta/par4-like robot
• scientific article; zbMATH DE number 5004219 (Why is no real title available?)
• Intelligent hybrid control strategy for trajectory tracking of robot manipulators
• A family of hyperbolic-type control schemes for robot manipulators
• Control based on perspective lines of a non-holonomic mobile robot with camera-on-board
• Optimal nonlinear damping control of second-order systems
• Nonlinear PD plus control for global asymptotic tracking of robot manipulators
• Stability of nonlinear teleoperators using PD controllers without velocity measurements
• Robustness analysis of a pd controller with approximate gravity compensation for robot manipulator control
• Global asymptotic stability of input-saturated one degree-of-freedom Euler–Lagrange systems with Rayleigh dissipation under nonlinear control
• Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
• Robust stabilisation of rotary inverted pendulum using intelligently optimised nonlinear self-adaptive dual fractional-order PD controllers
• A proportional-derivative-double derivative controller for robot manipulators
• Results on the robust observer-based position controller for parallel kinematic machines
• A stable motion control system for manipulators via fuzzy self-tuning
• New tuning conditions for a class of nonlinear PID global regulators of robot manipulators
• scientific article; zbMATH DE number 1952940 (Why is no real title available?)
• Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances
• A quasi-velocity-based nonlinear controller for rigid manipulators
• A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs
• Robust adaptive PID control of robot manipulator with bounded disturbances
• A new time-varying feedback RISE control for second-order nonlinear MIMO systems: theory and experiments

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