A New Tuning Procedure for PID Control of Rigid Robots

Authors: Hernández-Guzmán, Victor M.¹; Santibáñez, Victor²; Silva-Ortigoza, R.³

Source: Advanced Robotics, Volume 22, Number 9, 2008 , pp. 1007-1023(17)

Buy & download fulltext article:

Price: $35.00 plus tax (Refund Policy)

Abstract:

This paper is concerned with classical PID control of rigid robots. We introduce a tuning procedure for selection of the PID gains ensuring asymptotic stability in a domain which can be enlarged arbitrarily. The novelty of our approach relies on the fact that conditions for stability are formulated as expressions that have to be satisfied at each joint instead of conditions on norms of gain and parameter matrices as reported previously. This allows better performances than those obtained using tuning procedures previously reported in the literature.

Keywords: ROBOT CONTROL; PID CONTROL; POSITION REGULATION; TUNING PROCEDURE; STABILITY

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855308X315154

Affiliations: 1: Facultad de Ingeniería, Universidad Autónoma de Querétaro, AP 3-24, CP 76150, Querétaro, Qro., México;, Email: vmhg@uaq.mx 2: División de Estudios de Posgrado e Investigación, Instituto Tecnológico de la Laguna, AP 49-1, CP 27001, Torreón, Coah, México 3: CIDETEC-IPN, Departamento de Posgrado, Unidad Profesional Adolfo López Mateos, CP 07700, México, DF, México

Publication date: 2008-09-01