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This paper addresses the position control of robot manipulators in general task space with a model-free controller. A simple proportional-integral-derivative (PID) control is developed. The closed-loop system formed by the proposed PID control and the robot system is shown to be global asymptotically stable. Conditions on controller gains ensuring global asymptotic stability are obtained herein in...
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...
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,...
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