Global Regulation of Flexible Joint Robots With Input Saturation by Nonlinear I-PID-Type Control - Moyron, Jeronimo; Moreno-Valenzuela, Javier; Sandoval, Jesus (IEEE transactions on control systems technology, 2024)
Keywords: Actuators; Algorithms; Asymptotic methods; Asymptotic properties; Control algorithms; Control stability; Control systems design; Controllers; Deflection; Flexible joint robot; global asymptotic stability; input saturation; Lyapunov theory; Motors; Nonlinear control; Proportional integral derivative; proportional-integral-derivative (PID) control; Regulation; Regulators; Robot control; Robots; Stability; Symmetric matrices; Vectors