PID type robot joint position regulation with prescribed performance guaranties
2010 (English)In: 2010 IEEE International Conference on Robotics and Automation (ICRA) / [ed] Rakotondrabe, M; Ivan, IA, IEEE Robotics and Automation Society, 2010, 4137-4142 p.Conference paper (Refereed)
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.
, IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
ADAPTIVE ROBUST-CONTROL, MIMO NONLINEAR-SYSTEMS, TRACKING CONTROL, MANIPULATORS
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50937DOI: 10.1109/ROBOT.2010.5509676ISI: 000284150003105ISBN: 978-1-4244-5040-4OAI: oai:DiVA.org:kth-50937DiVA: diva2:463100
IEEE International Conference on Robotics and Automation (ICRA) Location: Anchorage, AK Date: MAY 03-08, 2010
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved