Robust Stabilization of Robotic Manipulators by PID Controllers
Source: Dynamics and Control, Volume 9, Number 3, July 1999 , pp. 203-222(20)
Abstract:A class of (directly and non-directly) controlled Lagrangian systems is considered. After a brief overview of known control laws, the main attention is paid to the most simple and the most popular PD, PID or PID-like controllers broadly used in robotics which are analyzed in details. New results demonstrating in particular robustness of closed-loop systems with respect to uncertainty in model description are shown. The efficiency of PID-like controllers for flexible joint robotic manipulators based on measurements of rotors velocities and links positions is investigated in detail also.
Document Type: Regular Paper
Affiliations: 1: Department of Mechanics and Control Processes, St. Petersburg State Technical University, St. Petersburg 195251, RUSSIA 2: Department of Mathematics, Michigan State University, East Lansing, MI 48824
Publication date: July 1, 1999