Sliding PID control for trajectory tracking of a 2 DOF robot manipulator:: Simulations and experiments

For a class of robot arms, a proportional derivative (PD) controller plus gravity compensation yields the global asymptotic stability for regulation tasks, and some proportional integral derivative (PID) controllers guarantee local regulation without gravity cancelation. However, these controllers cannot render asymptotic stability for tracking tasks. In this paper, a simple sliding PID controller for tracking tasks that yields semiglobal stability of all closed-loop signals with exponential convergence of tracking errors is used. The designing, modeling and construction of a robot manipulator is presented, following a multidisciplinary approach, everything based on CAD/CAE/CAM tools. The prototype is a 3 DOF planar robot manipulator arm pendulum type, totally designed in SolidWorks(C).