Global stability of a saturated nonlinear PID controller for robot manipulators

IEEE Transactions on Control Systems Technology

Volumn 17, Issue 4, 2009, Pages 892-899

  Sun, Dong ^a   Hu, Songyu ^a   Shao, Xiayin ^a   Liu, Chong ^a  

^a CITY UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

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

Indexed keywords

CARTESIAN SPACE; CONTROLLED SYSTEM; FUNCTION PARAMETERS; GLOBAL ASYMPTOTIC STABILITY; GLOBAL STABILITY; JOINT SPACE; NATURAL POTENTIAL; NEW CLASS; NONLINEAR PID CONTROLLERS; NONLINEAR PROPORTIONAL-INTEGRAL-DERIVATIVE (N-PID) CONTROL; PROPORTIONAL INTEGRAL DERIVATIVES; ROBOT MANIPULATOR; SATURATED FUNCTION; SATURATED FUNCTIONS; TWO-LINK ROBOT MANIPULATORS; VELOCITY ERRORS;

ASYMPTOTIC STABILITY; ELECTRIC CONTROL EQUIPMENT; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; PROPORTIONAL CONTROL SYSTEMS; ROBOT APPLICATIONS; SYSTEM STABILITY; THREE TERM CONTROL SYSTEMS; TWO TERM CONTROL SYSTEMS;

CONTROLLERS;

EID: 67650713932     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2008.2011748     Document Type: Article

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