Global stability of a saturated nonlinear PID controller for robotic manipulators

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 3032-3037

  Sun, Dong ^a   Shao, Xiaoyin ^a   Su, Yuxin ^a  

^a CITY UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

Global stability; Nonlinear proportional integral derivative (N PID) control; Saturated function; Set point control

Indexed keywords

ASYMPTOTIC STABILITY; ERROR ANALYSIS; INDUSTRIAL ROBOTS; LINEAR CONTROL SYSTEMS; NONLINEAR CONTROL SYSTEMS; THREE TERM CONTROL SYSTEMS;

GLOBAL STABILITY; NONLINEAR PROPORTIONAL-INTEGRAL-DERIVATIVE (N-PID) CONTROL; SATURATED FUNCTION; SET POINT CONTROL;

REDUNDANT MANIPULATORS;

EID: 34250670326     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282240     Document Type: Conference Paper

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