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In this paper, we presents a new nonlinear iterative learning control law for a class of nonlinear systems, denoted NP-D-INP-D, which is composed by limiting the action of error in PID learning law, that is, use a bounded nonlinear function of error instead of error, and adding a differential feedback in the integrator of PID learning law to inject the suited damping. By using Bellman-Gronwall lemma,...
This paper deals with the tracking control of robot manipulators. Proposed is a class of new SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, proportional control, derivative control, nonlinear control shaped by a nonlinear function of position errors, linear integral control driven by differential feedback, and nonlinear integral control driven...
This paper deals with the position control of robot manipulators with uncertain and varying-time payload. Proposed is a set of novel NPID-like regulators consisting of a linear combination of the proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear function of position errors, and two nonlinear integral control modes driven by a nonlinear function of position...
This paper deals with the position control problem of designing asymptotically stable proportional plus integral regulators with only position feedback for robot manipulators with uncertain and varying-time payload. Proposed is a simple class of robot regulators consisting of a linear PD plus an integral action driven by NP-D controller, where the velocity feedback is replaced by a filtered position...
This paper deals with the position control of rigid robot manipulators with uncertain payload. Proposed is a simple class of robot regulators consisting of a linear proportional-derivative (PD) feedback plus an integral action driven by an NP-D controller. By using Lyapunovpsilas direct method and LaSallepsilas invariance principle, the simple explicit conditions on the regulator gains to ensure global...
In this paper we overcome the restriction of conventional integrators and present a unified framework for general integral control (GIC). The necessary conditions and basic principles for designing a general integrator are proposed. All asymptotically stable controllers in conjunction with the limited conditions described can be directly used as integrators and all techniques for designing these controllers...
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