Stability of Robot Manipulators Under Saturated PID Compensation

被引：60

作者：

Alvarez-Ramirez, Jose ^{[1
]}

Santibanez, Victor ^{[2
]}

Campa, Ricardo ^{[2
]}

机构：

[1] Univ Autonoma Metropolitana Iztapalapa, Div Ciencias Basicas & Ingn, Mexico City 09340, DF, Mexico

[2] Inst Tecnol Laguna, Torreon 27001, Coahuila, Mexico

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2008年 / 16卷 / 06期

关键词：

Bounded inputs; proportional-integral differential (PID) regulator; robot control; saturation functions; stability analysis;

D O I：

10.1109/TCST.2008.917875

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The joint position regulation problem for robot manipulators under a standard saturated proportional-integral differential (PID) compensator is studied in this brief. The main result states the existence of PID control gains yielding semiglobal asymptotic stability if the control torque bounds are larger than gravitational torques. Energy shaping plus damping injection methods, as well as singular perturbation analysis, are used to establish stability conditions to achieve regulation at any desired position. Some experiments are carried out to illustrate the stability results.

引用

页码：1333 / 1341

页数：9

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