Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances

DOI10.3166/EJC.13.563-576MaRDI QIDQ522679zbMATH OpenOpenAlexFDO

Authors Antoine Chaillet, Antonio Loria, Rafael Kelly

Publication date 19 April 2017

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.3166/ejc.13.563-576

zbMATH Keywords

PID controlrobustness analysisstability of nonlinear systemsrobot manipulators

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Lyapunov and storage functions (93D30)

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Cites work

• scientific article; zbMATH DE number 839077 (Why is no real title available?)
• scientific article; zbMATH DE number 3232230 (Why is no real title available?)
• scientific article; zbMATH DE number 3297399 (Why is no real title available?)
• A New Feedback Method for Dynamic Control of Manipulators
• A new model for control of systems with friction
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• An adaptive friction compensator for global tracking in robot manipulators
• An exponentially stable adaptive friction compensator
• An integrated friction model structure with improved presliding behavior for accurate friction compensation
• Cascaded control of feedback interconnected nonlinear systems: Application to robots with AC drives
• Modelling and control of robot manipulators.
• On the existence of Caratheodory solutions in mechanical systems with friction
• PID trajectory tracking control for mechanical systems.
• Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics
• Robust adaptive friction compensation for tracking control of robot manipulators
• Robust tracking control of robots by a linear feedback law

Cited in

(11)

• Tracking control of nonlinear systems actuated by saturated oscillatory force generator
• On the practical \(h\)-stability of nonlinear systems of differential equations
• State-Dependent Parameter PID+ Control Applied to a Nonlinear Manipulator Arm
• Discussion on: ``Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances
• A generalization of practical stability of nonlinear impulsive systems
• Practical \(h\)-stability of nonlinear impulsive systems: a survey
• PID regulation of robot manipulators: stability and performance
• On the PID tracking control of robot manipulators
• Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations
• PID based on attractive ellipsoid method for dynamic uncertain and external disturbances rejection in mechanical systems
• Robust adaptive PID control of robot manipulator with bounded disturbances

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