PID robust control for robot manipulators with parametric uncertainty

被引：0
|
作者：
Aguilar, L [1 ]
Acho, L [1 ]
Guerra, R [1 ]
机构：
[1] IPN, CITEDI, San Diego, CA 92154 USA
来源：
Proceedings of the Sixth IASTED International Conference on Intelligent Systems and Control | 2004年
关键词：
parametric uncertainty; PID control; robot manipulators;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a Proportional-Integral-Derivative (PID) robust control scheme is derived for robot manipulators where an uncertain unknown bound between real and normal parameters of the robot model is considered. Stabilily analysis is given within the Lyapunov vector function framework. Performance issues of the PID robust controller are evaluated in an experimental study of a three degrees-of-freedom robot manipulator.
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页码：105 / 108
页数：4
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