A TUNING PROCEDURE FOR STABLE PID CONTROL OF ROBOT MANIPULATORS

被引：119
|
作者：
KELLY, R
机构：
[1] Division de Fisica Aplicada, CICESE, Ensenada, B.C. 22800, Carretera Tijuana-Ensenada Km. 107
来源：
ROBOTICA | 1995年 / 13卷
关键词：
PID CONTROL; SET-POINT CONTROL; STABILITY; ROBOTS;
D O I：
10.1017/S0263574700017641
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper we propose some simple rules for PID tuning of robot manipulators. The procedure suggested requires the knowledge of the structure of the inertia matrix and the gravitational torque vector of the robot dynamics, but only upper bounds on the dynamics parameters are needed. This tuning procedure is extracted from the stability analysis by using a suitable Lyapunov function together with the LaSalle invariance principle. We show that with this guideline, the overall closed-loop system is asymptotically stable. This procedure is illustrated for a two degrees-of-freedom robot.
引用
收藏
页码：141 / 148
页数：8
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