Globally robust nonlinear PID controllers for robot manipulators with an uncertain jacobian matrix

被引：0
作者：
Chunqing Huang
Songjiao Shi
机构：
[1] Shanghai Jiao Tong University,Department of Automation
来源：
Journal of Control Theory and Applications | 2004年 / 2卷 / 2期
关键词：
Robot manipulator; PID; Globally robust nonlinear PID; Uncertain Jacobian matrix; Asymptotic stability;
D O I：
10.1007/s11768-004-0052-4
中图分类号：
学科分类号：
摘要：
Based on a continuous piecewise-differentiable increasing functions vector, a class of robust nonlinear PID (RN-PID) controllers is proposed for setpoint control with uncertain Jacobian matrix. Globally asymptotic stability is guaranteed and only position and joint velocity measurements are required. And stability problem arising from integral action and integrator windup, are consequently resolved. Furthermore, RN-PID controllers can be of effective alternative for anti-integrator-wind-up, the control performance would not be very bad in the presence of rough parameter tuning.
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页码：105 / 110
页数：5
相关论文
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