PID robust control for robot manipulators with parametric uncertainty

Luis Aguilar; Leonardo Acho; Ricardo Guerra

PID robust control for robot manipulators with parametric uncertainty

Luis Aguilar, Leonardo Acho, Ricardo Guerra

Research output: Contribution to journal › Conference article › peer-review

Abstract

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	English
Pages (from-to)	105-108
Number of pages	4
Journal	Proceedings of the IASTED International Conference on Intelligent Systems and Control
State	Published - 2004
Externally published	Yes
Event	Proceedings of the Sixth IASTED International Conference on Intelligent Systems and Control - Honolulu, HI, United States Duration: 23 Aug 2004 → 25 Aug 2004

Keywords

PID control
Parametric uncertainty
Robot manipulators

Cite this

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title = "PID robust control for robot manipulators with parametric uncertainty",

abstract = "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.",

keywords = "PID control, Parametric uncertainty, Robot manipulators",

author = "Luis Aguilar and Leonardo Acho and Ricardo Guerra",

year = "2004",

language = "Ingl{\'e}s",

pages = "105--108",

journal = "Proceedings of the IASTED International Conference on Intelligent Systems and Control",

issn = "1025-8973",

publisher = "ACTA Press",

note = "Proceedings of the Sixth IASTED International Conference on Intelligent Systems and Control ; Conference date: 23-08-2004 Through 25-08-2004",

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T1 - PID robust control for robot manipulators with parametric uncertainty

AU - Aguilar, Luis

AU - Acho, Leonardo

AU - Guerra, Ricardo

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

KW - PID control

KW - Parametric uncertainty

KW - Robot manipulators

UR - http://www.scopus.com/inward/record.url?scp=10444221827&partnerID=8YFLogxK

M3 - Artículo de la conferencia

AN - SCOPUS:10444221827

SN - 1025-8973

SP - 105

EP - 108

JO - Proceedings of the IASTED International Conference on Intelligent Systems and Control

JF - Proceedings of the IASTED International Conference on Intelligent Systems and Control

T2 - Proceedings of the Sixth IASTED International Conference on Intelligent Systems and Control

Y2 - 23 August 2004 through 25 August 2004

ER -

PID robust control for robot manipulators with parametric uncertainty

Abstract

Keywords

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