PID robust control for robot manipulators with parametric uncertainty

Luis Aguilar, Leonardo Acho, Ricardo Guerra

Research output: Contribution to conferencePaper

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 languageAmerican English
Pages105-108
Number of pages94
StatePublished - 27 Dec 2004
Externally publishedYes
EventProceedings of the IASTED International Conference on Intelligent Systems and Control -
Duration: 27 Dec 2004 → …

Conference

ConferenceProceedings of the IASTED International Conference on Intelligent Systems and Control
Period27/12/04 → …

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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, .