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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,...
In this paper, we provide an answer to the longstanding question of designing global asymptotically stable proportional-integral-derivative (PID) regulators for uncertain robotic manipulators. Our main contribution is to establish the global asymptotic stability of the controlled system with the commonly-used PID controller by using Lyapunov's direct method and LaSalle's invariance principle. Furthermore,...
The main objective of this paper is to propose a new controller scheme for robot manipulators on Cartesian space with formal stability proof. To verify the performance of the proposed controller we compared its behavior with the Cartesian PD controller. In this paper we described an experimental Cartesian robot for research and development of robot control algorithms. This system allows the development...
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