Dynamic sliding PID control for tracking of robot manipulators: theory and experiments
- 1 December 2003
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 19 (6), 967-976
- https://doi.org/10.1109/tra.2003.819600
Abstract
For a class of robot arms, a proportional-derivative (PD) controller plus gravity compensation yields the global asymptotic stability for regulation tasks, and some proportional-integral-derivative (PID) controllers guarantee local regulation without gravity cancellation. However, these controllers cannot render asymptotic stability for tracking tasks. In this paper, a simple decentralized continuous sliding PID controller for tracking tasks that yields semiglobal stability of all closed-loop signals with exponential convergence of tracking errors is proposed. A dynamic sliding mode without reaching phase is enforced, and terminal attractors, as well as saturated ones, are considered. A comparative experimental study versus PD control, PID control, and adaptive control for a rigid robot arm validates our design.Keywords
This publication has 22 references indexed in Scilit:
- Robust adaptive trajectory tracking independent of models for robotic manipulatorsJournal of Robotic Systems, 2001
- Decoupled nonlinear three-term controllers for robot trajectory trackingIEEE Transactions on Robotics and Automation, 1999
- Robust control of robot manipulators: A surveyInternational Journal of Control, 1999
- Global positioning of robot manipulators via PD control plus a class of nonlinear integral actionsIEEE Transactions on Automatic Control, 1998
- A tuning procedure for stable PID control of robot manipulatorsRobotica, 1995
- Technical note self‐tuning ziegler‐nichols pid controllerInternational Journal of Adaptive Control and Signal Processing, 1995
- Robustness analysis of a pd controller with approximate gravity compensation for robot manipulator controlJournal of Robotic Systems, 1994
- Design of robust PD‐type control laws for robotic manipulators with parametric uncertaintiesJournal of Robotic Systems, 1993
- Comparative experiments with a new adaptive controller for robot armsIEEE Transactions on Robotics and Automation, 1993
- Adaptive PD controller for robot manipulatorsIEEE Transactions on Robotics and Automation, 1991