Nonlinear PID control with sliding modes for tracking of robot manipulators

IEEE Conference on Control Applications - Proceedings

Volumn , Issue , 2001, Pages 351-356

  Parra Vega, V ^a   Arimoto, S ^a  

^a DEPARTAMENTO DE FÍSICA   (Mexico)

Author keywords

PID; Robot manipulators; Sliding mode control

Indexed keywords

ASYMPTOTIC STABILITY; CONTROL SYSTEM SYNTHESIS; DECENTRALIZED CONTROL; FEEDBACK CONTROL; GRAVITATIONAL EFFECTS; INDUSTRIAL ROBOTS; MANIPULATORS; SLIDING MODE CONTROL; STATE FEEDBACK; SYSTEM STABILITY; THREE TERM CONTROL SYSTEMS; TRACKING (POSITION);

CORIOLIS MATRICES; GRAVITY COMPENSATION; LOCAL EXPONENTIAL STABILITY; REAL TIME TASKS; TRACKING TASKS;

NONLINEAR CONTROL SYSTEMS;

EID: 0035691460     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. A new feedback method for dynamic control of manipulators
2. Stability and robustness of a PID feedback control for robot manipulators of sensory capabilities
3. On the adaptive control of manipulators
4. A natural PD control for robot manipulators and its role in adaptive and learning controls
5. Robust control of robot manipulators: A survey
6. A method for the calibration of PID controllers
7. Adaptive PD for robot manipulators
8. Robustness analysis of a PD controller with approximate gravity compensation for robot manipulators
9. Design of robust PD-type control laws for robot manipulators with parametric uncertainties
10. A tuning procedure for PID control for robot manipulators
11. Strict lyapunov functions for global regulation of robots manipulators
12. Variable structure control of robotic manipulator with PID sliding surfaces
13. Adaptive control for robot manipulators with sliding mode error coordinate system: Free and constrained motions
14. Decoupled nonlinear three-term controllers for robot trajectory tracking
15. A new class of nonlinear PID controllers with robotic applications
16. Synthesis of stable fuzzy PD/PID control laws for robotic manipulators from a variable structure systems standpoint
17. Global positioning of robot manipulators via PD control plus A class of nonlinear integral actions
18. Robust stabilization of robotic manipulators by PID controllers