Journal
SYSTEMS & CONTROL LETTERS
Volume 41, Issue 2, Pages 73-83Publisher
ELSEVIER
DOI: 10.1016/S0167-6911(00)00038-4
Keywords
robot manipulators; PID control; robust stability; robust performance
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Position control of robot manipulators using a novel PID control configuration derived from modeling error compensation ideas is introduced. The PID control law stability depends only on the inertial parameters of the robot. A simple proof of semiglobal PID stabilization of robot manipulators is provided. It is shown that the performance of the inverse dynamics control can be recovered by the PID control in the high-gain limit. Simple tuning guidelines derived from the proposed PID control configuration and closed-loop stability analysis are presented. (C) 2000 Elsevier Science B.V. All rights reserved.
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