𝔖 Bobbio Scriptorium
✦   LIBER   ✦

On the PID tracking control of robot manipulators

✍ Scribed by Ilse Cervantes; Jose Alvarez-Ramirez

Book ID
104300308
Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
220 KB
Volume
42
Category
Article
ISSN
0167-6911

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✦ Synopsis

We consider the problem of PID tracking control of robotics manipulators. Our objective is to prove that under classical PID control, semiglobal stability can be assured with arbitrary small output tracking error. This means that, for any given set of initial conditions Wx, there exist PID control gains such that all trajectories starting in Wx converge to a residual set of arbitrary size. A novel PID control conΓΏguration is developed in terms of a parameter that is directly related with the size of the region of attraction and the size of the residual set. Tuning guidelines are extracted from the stability analysis.

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