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This work reports a novel variable-gains two-loop Proportional-Proportional Integral (P-PI) tracking controller, applied to a parallel manipulator. The dual-loop structure gives the controller the ability to tune separately the velocity loop and the position loop. This allows us to obtain a more decoupled control of these two variables for tracking control tasks on parallel robots. The dynamic model...
In this work we present the stability analysis of a tracking Proportional-Derivative (PD) robot manipulator controller, with variable P and D gains. We show that under a proper selection of the bounds of the variable gains, the tracking error is uniformly ultimately bounded. Simulations of the controller tuned by a self-organizing fuzzy algorithm, applied to tracking control of a robot manipulator...
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