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This paper deals with the position control of robot manipulators with uncertain and varying-time payload. Proposed is a novel nonlinear regulator consisting of a linear combination of the bounded proportional control mode, bounded derivative control mode, and two integral control modes driven by a nonlinear function of position errors and the derivative of position errors, respectively. By using Lyapunov's...
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 tracking control of robot manipulators with uncertain payload. Proposed is a set of novel SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, 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...
A semiglobally stable PD-IPD regulator for robot manipulators is recently presented in [1], where the stability proof is based on a Lyapunov function involving stringent conditions on the feedback matrices, and then which leads to overmuch restriction on the optional region of the controller parameters and makes the engineers very difficultly obtain the satisfied control performance. To avoid this...
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 set of output feedback N-PID regulators consisting of a linear combination of the proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear...
This paper deals with the tracking control of robot manipulators. Synthesizing the strong robustness of the sliding mode control and the good flexibility of PD-INP-D control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus an integral action driven by an NP-D controller. By using Lyapunov's direct method and LaSalle's...
This paper deals with the tracking control of rigid robot manipulators. By synthesizing the strong robustness of sliding mode control and the good flexibility of PD-NP-INP-D control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus a bounded nonlinear term of position errors plus an integral action driven by an NP-D controller,...
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 robot manipulators with uncertain and varying-time payload. Proposed is a simple class of robot regulators consisting of a linear PD feedback plus a bounded nonlinear term of position errors plus an integral action driven by an NP-D controller, where the nonlinear terms are shaped by a continuous bounded nonlinear function of position errors. By using...
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...
This paper deals with the position control of robot manipulators with uncertain payload. Proposed is a simple class of robot regulators consisting of a linear PD plus an integral action driven by PD controller. By using Lyapunovpsilas direct method and LaSallepsilas invariance principle, the simple explicit conditions on the regulator gains to ensure semiglobal asymptotic stability are provided. The...
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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