In this paper a Proportional-Integral-Derivative (PID) robust control scheme is derived for robot manipulators where an uncertain unknown bound between real and nominal parameters of the robot model is considered. Stability 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.
|Original language||American English|
|Number of pages||94|
|State||Published - 27 Dec 2004|
|Event||Proceedings of the IASTED International Conference on Intelligent Systems and Control - |
Duration: 27 Dec 2004 → …
|Conference||Proceedings of the IASTED International Conference on Intelligent Systems and Control|
|Period||27/12/04 → …|
Aguilar, L., Acho, L., & Guerra, R. (2004). PID robust control for robot manipulators with parametric uncertainty. 105-108. Paper presented at Proceedings of the IASTED International Conference on Intelligent Systems and Control, .