Globally robust nonlinear PID controllers for robot manipulators with an uncertain Jacobian matrix
Chunqing HUANG
Songjiao SHI
摘要：Based on a continuous piecewise-differentiable increasing functions vector, a class of robust nonlinear PID(RN-PID) controllers is proposed for setpoint control with uncertain Jacobian matrix. Globally asymptotic stability is guaranteed and only position and joint velocity measurements are required. And stability problem arising from integral action and integrator windup, are consequendy resolved. Furthermore, RN-PID controllers can be of effective alternative for anti-integrator-wind-up,the control performance would not be very bad in the presence of rough parameter tuning.
机标关键词：uncertain Jacobian matrixasymptotic stabilitycontrol performancestability problemparameter tuning
分类号：O1(数学)
资助基金：国家博士基金(2003033306)
论文发表日期：2004-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：6( 105-110 )
英文信息