New tuning conditions for a class of nonlinear PID global regulators of robot manipulators

DOI10.1080/00207179.2013.854440MaRDI QIDQ5494491zbMATH OpenOpenAlexFDO

Authors Jorge Orrante-Sakanassi, Victor Santibáñez, V. M. Hernández-Guzmán

Publication date 28 July 2014

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

Full work available at URL https://doi.org/10.1080/00207179.2013.854440

zbMATH Keywords

global stabilitynonlinear PID controlrobot manipulatorstuning conditions

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09)

Recommendations

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• On the PID tracking control of robot manipulators

Cites work

• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
• PD control for robot manipulators actuated by switched reluctance motors
• PID regulation of robot manipulators: stability and performance

Cited in

(8)

• A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs
• PID control for global finite-time regulation of robotic manipulators
• A stochastic PID controller for a class of MIMO systems
• Improving performance of saturation-based PID controllers for rigid robots
• scientific article; zbMATH DE number 5004219 (Why is no real title available?)
• Globally robust nonlinear PID controllers for robot manipulators with an uncertain Jacobian matrix
• State-Dependent Parameter PID+ Control Applied to a Nonlinear Manipulator Arm
• An optimal stochastic multivariable PID controller: a direct output tracking approach

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