Robust Stabilization of Robotic Manipulators by PID Controllers
β Scribed by Anatoli A. Pervozvanski; Leonid B. Freidovich
- Book ID
- 110262033
- Publisher
- Springer
- Year
- 1999
- Tongue
- English
- Weight
- 94 KB
- Volume
- 9
- Category
- Article
- ISSN
- 0925-4668
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
Position control of robot manipulators using a novel PID control conΓΏguration derived from modeling error compensation ideas is introduced. The PID control law stability depends only on the inertial parameters of the robot. A simple proof of semiglobal PID stabilization of robot manipulators is prov
In this paper the problem of robust tracking for robot manipulators in the presence of uncertainty and input constraints is studied. Using the theory of uncertain dynamical systems, robust non-linear control strategies, with guaranteed tracking properties that can be quantified given bounds on the e
An adaptive PID learning controller which consists of an adaptive PID feedback control scheme and a feedforward input learning scheme is proposed for learning of periodic robot motion. In the learning controller, the adaptive PID feedback controller takes part in stabilizing the transient response o
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 g