A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators

DOI10.1109/9.402235zbMATH Open0832.93042OpenAlexW2171676167MaRDI QIDQ4850487FDOQ4850487

Authors Antonio Loria, Rafael Kelly, Romeo Ortega

Publication date 21 November 1995

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.402235

zbMATH Keywords

robotsposition feedbackproportional plus integral regulatorsuncertain payload

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Lyapunov and storage functions (93D30)

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Cited in

(28)

• Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
• An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation
• Global continuous finite-time tracking of robot manipulators
• Necessary and sufficient conditions for uniform semiglobal practical asymptotic stability: application to cascaded systems
• Uniform global practical asymptotic stability for time-varying cascaded systems
• Uniform semiglobal practical asymptotic stability for non-autonomous cascaded systems and applications
• Adaptive PID-like fault-tolerant control for robot manipulators with given performance specifications
• Stabilization of the preset motions of a holonomic mechanical system without velocity measurement
• Velocity-sensorless tracking control and identification of switched-reluctance motors
• Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity
• Nonlinear regulators in the position stabilization problem of the holonomic mechanical system
• Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters
• Global trajectory tracking of a class of manipulators without velocity measurements in random surroundings
• PID regulation of robot manipulators: stability and performance
• scientific article; zbMATH DE number 1437291 (Why is no real title available?)
• Global adaptive linear control of the permanent-magnet synchronous motor
• PID position regulation in one-degree-of-freedom Euler–Lagrange systems actuated by a PMSM
• On the PID tracking control of robot manipulators
• Parameter to state stability of control Lyapunov functions for hybrid system models of robots
• Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances
• Global adaptive learning control of robotic manipulators by output error feedback
• Velocity observer design for the consensus in delayed robot networks
• Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations
• New tuning conditions for a class of nonlinear PID global regulators of robot manipulators
• An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment
• PID control for global finite-time regulation of robotic manipulators
• Model-based state estimation for Euler-Lagrange systems and rigid-body robot control
• A nonlinear robust PI controller for an uncertain system

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