Globally robust nonlinear PID controllers for robot manipulators with an uncertain jacobian matrix

DOI10.1007/s11768-004-0052-4zbMath1260.93138OpenAlexW2081023888MaRDI QIDQ4915284

Chunqing Huang, Song-Jiao Shi

Publication date: 10 April 2013

Published in: Journal of Control Theory and Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11768-004-0052-4

zbMATH Keywords

asymptotic stabilityPIDrobot manipulatoruncertain Jacobian matrixglobally robust nonlinear PID

Mathematics Subject Classification ID

Asymptotic stability in control theory (93D20) Robot dynamics and control of rigid bodies (70E60) Control/observation systems governed by ordinary differential equations (93C15)

Cites Work

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• Robust tracking control of robots by a linear feedback law
• H/sub ∞/ tuning for task-space feedback control of robot with uncertain Jacobian matrix
• A Class of Transpose Jacobian-based NPID Regulators for Robot Manipulators with an Uncertain Kinematics
• On the PID tracking control of robot manipulators

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