On the PID tracking control of robot manipulators

被引：117
|
作者：
Cervantes, I
Alvarez-Ramirez, J
机构：
[1] Escuela Super Ingn Mecan & Elect, Mexico City 04430, DF, Mexico
[2] Univ Autonoma Metropolitana Iztapalapa, Div Ciencias Basicas & Ingn, Mexico City 09340, DF, Mexico
来源：
SYSTEMS & CONTROL LETTERS | 2001年 / 42卷 / 01期
关键词：
robot manipulators; PID control; semiglobal stability; signal tracking;
D O I：
10.1016/S0167-6911(00)00077-3
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 W-x, there exist PID control gains such that all trajectories starting in W-x converge to a residual set of arbitrary size. A novel PID control configuration 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. (C) 2001 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：37 / 46
页数：10
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