A New Tuning Procedure for PID Control of Rigid Robots

This paper is concerned with classical PID control of rigid robots. We introduce a tuning procedure for selection of the PID gains ensuring asymptotic stability in a domain which can be enlarged arbitrarily. The novelty of our approach relies on the fact that conditions for stability are formulated...

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Bibliographic Details
Published inAdvanced robotics Vol. 22; no. 9; pp. 1007 - 1023
Main Authors Hernandez-Guzman, Victor M, Santibanez, Victor, Silva-Ortigoza, R
Format Journal Article
LanguageEnglish
Published Taylor & Francis Group 01.01.2008
Subjects
PID CONTROL
POSITION REGULATION
ROBOT CONTROL
STABILITY
TUNING PROCEDURE
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Summary:This paper is concerned with classical PID control of rigid robots. We introduce a tuning procedure for selection of the PID gains ensuring asymptotic stability in a domain which can be enlarged arbitrarily. The novelty of our approach relies on the fact that conditions for stability are formulated as expressions that have to be satisfied at each joint instead of conditions on norms of gain and parameter matrices as reported previously. This allows better performances than those obtained using tuning procedures previously reported in the literature.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
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ISSN:0169-1864
1568-5535
DOI:10.1163/156855308X315154