TY - JOUR
T1 - A practical PID regulator with bounded torques for robot manipulators
AU - Santibañez, Victor
AU - Camarillo, Karla
AU - Moreno-Valenzuela, Javier
AU - Campa, Ricardo
N1 - Funding Information:
__________ Manuscript received September 5, 2009; accepted December 14, 2009. Recommended by Editorial Board member Youngjin Choi under the direction of Editor Jae-Bok Song. This work was supported by CONACYT, SIP-IPN and DGEST. Victor Santibañez and Ricardo Campa are with the Instituto Tecnologico de la Laguna, Blvd. Revolucion y Cuauhtemoc, Torreon, Coahuila, 27000, Mexico (e-mails: santibanez@ieee.org; vsantiba@itlalaguna.edu.mx, recampa@ieee.org).
PY - 2010/6
Y1 - 2010/6
N2 - This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of die closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.
AB - This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of die closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.
KW - Bounded torques
KW - PID control
KW - Singular perturbations
KW - Stability analysis
UR - http://www.scopus.com/inward/record.url?scp=77953756785&partnerID=8YFLogxK
U2 - 10.1007/s12555-010-0307-4
DO - 10.1007/s12555-010-0307-4
M3 - Artículo
SN - 1598-6446
VL - 8
SP - 544
EP - 555
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 3
ER -