Semiglobal stability of saturated linear PID control for robot manipulators

Jose Alvarez-Ramirez; Rafael Kelly; Ilse Cervantes

doi:10.1016/S0005-1098(03)00035-9

Semiglobal stability of saturated linear PID control for robot manipulators

Jose Alvarez-Ramirez, Rafael Kelly, Ilse Cervantes

Research output: Contribution to journal › Article › peer-review

106 Scopus citations

Abstract

This paper addresses the position regulation problem of robot manipulators under control input constraints. It is proven that the robot system under a saturated linear PID control is semiglobally asymptotically stable, if the torque bounds are larger than gravitational torques, and if the proportional gain is large enough and the integral gain is small enough. The stability analysis makes use of singular perturbation tools and the results are illustrated via numerical simulations.

Original language	English
Pages (from-to)	989-995
Number of pages	7
Journal	Automatica
Volume	39
Issue number	6
DOIs	https://doi.org/10.1016/S0005-1098(03)00035-9
State	Published - Jun 2003
Externally published	Yes

Keywords

Bounded control
PID control
Robot systems
Stability
Uncertain gravitational torques

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10.1016/S0005-1098(03)00035-9

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title = "Semiglobal stability of saturated linear PID control for robot manipulators",

abstract = "This paper addresses the position regulation problem of robot manipulators under control input constraints. It is proven that the robot system under a saturated linear PID control is semiglobally asymptotically stable, if the torque bounds are larger than gravitational torques, and if the proportional gain is large enough and the integral gain is small enough. The stability analysis makes use of singular perturbation tools and the results are illustrated via numerical simulations.",

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AU - Cervantes, Ilse

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N2 - This paper addresses the position regulation problem of robot manipulators under control input constraints. It is proven that the robot system under a saturated linear PID control is semiglobally asymptotically stable, if the torque bounds are larger than gravitational torques, and if the proportional gain is large enough and the integral gain is small enough. The stability analysis makes use of singular perturbation tools and the results are illustrated via numerical simulations.

AB - This paper addresses the position regulation problem of robot manipulators under control input constraints. It is proven that the robot system under a saturated linear PID control is semiglobally asymptotically stable, if the torque bounds are larger than gravitational torques, and if the proportional gain is large enough and the integral gain is small enough. The stability analysis makes use of singular perturbation tools and the results are illustrated via numerical simulations.

KW - Bounded control

KW - PID control

KW - Robot systems

KW - Stability

KW - Uncertain gravitational torques

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DO - 10.1016/S0005-1098(03)00035-9

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JO - Automatica

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Semiglobal stability of saturated linear PID control for robot manipulators

Abstract

Keywords

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