On the PID tracking control of robot manipulators

DOI10.1016/S0167-6911(00)00077-3zbMath0974.93039OpenAlexW2001456083WikidataQ56418343 ScholiaQ56418343MaRDI QIDQ5940729

Ilse Cervantes, José de Jesús Álvarez-Ramírez

Publication date: 20 August 2001

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(00)00077-3

zbMATH Keywords

PID controlrobot manipulatorssemiglobal stabilitysignal tracking

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

Related Items (9)

An optimal PID tuning method for a two-link manipulator via an exact penalty function method ⋮ The variable-inertia modified computed-torque control of robot manipulators ⋮ Position control of a 3-CPU spherical parallel manipulator ⋮ Nonlinear regulators in the position stabilization problem of the holonomic mechanical system ⋮ Global continuous finite-time tracking of robot manipulators ⋮ Globally robust nonlinear PID controllers for robot manipulators with an uncertain jacobian matrix ⋮ Stabilization and tracking control for a class of nonlinear systems ⋮ PD control with gravity compensation for hydraulic 6-DOF parallel manipulator ⋮ Solving analysis problem with input and output disturbances

Cites Work

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• Decentralized control of robot manipulators: nonlinear and adaptive approaches
• Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation
• An exponentially stable adaptive control for force and position tracking of robot manipulators
• A New Class of Stabilizing Controllers for Uncertain Dynamical Systems
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• Tools for Semiglobal Stabilization by Partial State and Output Feedback

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