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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 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...
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