TY - JOUR
T1 - On the PID tracking control of robot manipulators
AU - Cervantes, Ilse
AU - Alvarez-Ramirez, Jose
PY - 2001
Y1 - 2001
N2 - We consider the problem of PID tracking control of robotics manipulators. Our objective is to prove that under classical PID control, semiglobal stability can be assured with arbitrary small output tracking error. This means that, for any given set of initial conditions Wx, there exist PID control gains such that all trajectories starting in Wx converge to a residual set of arbitrary size. A novel PID control configuration is developed in terms of a parameter that is directly related with the size of the region of attraction and the size of the residual set. Tuning guidelines are extracted from the stability analysis.
AB - We consider the problem of PID tracking control of robotics manipulators. Our objective is to prove that under classical PID control, semiglobal stability can be assured with arbitrary small output tracking error. This means that, for any given set of initial conditions Wx, there exist PID control gains such that all trajectories starting in Wx converge to a residual set of arbitrary size. A novel PID control configuration is developed in terms of a parameter that is directly related with the size of the region of attraction and the size of the residual set. Tuning guidelines are extracted from the stability analysis.
KW - PID control
KW - Robot manipulators
KW - Semiglobal stability
KW - Signal tracking
UR - http://www.scopus.com/inward/record.url?scp=0034904444&partnerID=8YFLogxK
U2 - 10.1016/S0167-6911(00)00077-3
DO - 10.1016/S0167-6911(00)00077-3
M3 - Artículo
SN - 0167-6911
VL - 42
SP - 37
EP - 46
JO - Systems and Control Letters
JF - Systems and Control Letters
IS - 1
ER -