A new class of nonlinear PID controllers with robotic applications

Journal of Robotic Systems

Volumn 15, Issue 3, 1998, Pages 161-181

  Seraji, Homayoun ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM ANALYSIS; NONLINEAR CONTROL SYSTEMS; ROBOT APPLICATIONS; ROBOTIC ARMS; STABILITY CRITERIA; SYSTEM STABILITY; TRANSFER FUNCTIONS;

POPOV STABILITY CRITERION;

THREE TERM CONTROL SYSTEMS;

EID: 0032022909     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-4563(199803)15:3<161::AID-ROB4>3.0.CO;2-O     Document Type: Article

References (8)

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2. J. De Schutter and H. Van Brussel, "Compliant robot motion, II. A control approach based on external control loops," Int. J. Rob. Res., Vol. 7, 18-33, 1988.
3. H. Seraji, B. Bon, and R. Steele, "Experiments in real-time collision avoidance for dexterous 7-DOF arms," Proc. IEEE Int. Conf. Robotics Automat., Albuquerque, NM, Vol. 1, pp. 569-574, 1997.
4. K. S. Narendra and J. H. Taylor, Frequency Domain Criteria for Absolute Stability, Academic Press, New York, 1973.
5. M. Vidyasagar, Nonlinear Systems Analysis, Prentice-Hall, Englewood Cliffs, NJ, 1978.
6. H. Seraji, "Nonlinear and adaptive control of force and compliance in manipulators," Int. J. Rob. Res., Vol. 16, May 1998.
7. H. Seraji, M. Long, and T. Lee, "Motion control of 7-DOF arms: The configuration control approach," IEEE Trans. Robotics Automat., Vol. 9, pp. 125-139, 1993.
8. H. Seraji, D. Lim, and R. Steele, "Experiments in contact control," J. Rob. Syst., Vol. 13, pp. 53-73, 1996.