A simple nonlinear PID control for finite-time regulation of robot manipulators

Authors:
Yuxin Su;Chunhong Zheng
Affiliations:
School of Electro-Mechanical Engineering, Xidian University, Xi'an, China;School of Electronic Engineering, Xidian University, Xi'an, China
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 5
Cited 0

Finite time controllers

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PD control with desired gravity compensation of robotic manipulators: a review

International Journal of Robotics Research
Control Theory of Nonlinear Mechanical Systems

Control Theory of Nonlinear Mechanical Systems
Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators

IEEE Transactions on Robotics
Brief Semiglobal stability of saturated linear PID control for robot manipulators

Automatica (Journal of IFAC)

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Abstract

A simple nonlinear proportional-integral-derivative (PID) controller is proposed to solve the finite-time regulation of uncertain robot manipulators. The semiglobal finite-time stabilization is shown by using Lyapunov theory and finite-time stability theory. The proposed control algorithm does not involve the modeling information in the control law formulation and the control gains can be explicitly determined based on some well-known bounds extracted from the robot dynamics, and thus permits easy implementation. Simulations preformed on a two degrees-of-freedom (DOF) manipulator demonstrate the expected properties of the proposed approach.