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PID type robot joint position regulation with prescribed performance guaranties
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.ORCID iD: 0000-0001-5129-342X
2010 (English)In: 2010 IEEE International Conference onĀ  Robotics and Automation (ICRA) / [ed] Rakotondrabe, M; Ivan, IA, IEEE Robotics and Automation Society, 2010, 4137-4142 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper proposes a PID type regulator that achieves not only the global asymptotic convergence of the robot joint velocities and position errors to zero but it also guarantees a prescribed performance for the position error transient that is independent of system constants and control parameters. The proportional term of the control input uses a transformed error (TP) which incorporates the desired performance function; given sufficiently high proportional and damping gains, the proposed TPID controller ensures the position error's prescribed performance irrespective of constant disturbances and choice of control gains. Control parameter selection is merely confined in achieving admissible input torques. Simulation results for a three dof spatial robot confirm the theoretical analysis and illustrate the robustness of the prescribed performance regulator in case of time-variant bounded disturbances.

Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2010. 4137-4142 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Keyword [en]
ADAPTIVE ROBUST-CONTROL, MIMO NONLINEAR-SYSTEMS, TRACKING CONTROL, MANIPULATORS
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50937DOI: 10.1109/ROBOT.2010.5509676ISI: 000284150003105ISBN: 978-1-4244-5040-4 (print)OAI: oai:DiVA.org:kth-50937DiVA: diva2:463100
Conference
IEEE International Conference on Robotics and Automation (ICRA) Location: Anchorage, AK Date: MAY 03-08, 2010
Note
QC 20111209Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-09Bibliographically approved

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Karayiannidis, Yiannis

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf