A practical PID regulator with bounded torques for robot manipulators

International Journal of Control, Automation and Systems

Volumn 8, Issue 3, 2010, Pages 544-555

  Santibañez, Victor ^a   Camarillo, Karla ^b   Moreno Valenzuela, Javier ^c   Campa, Ricardo ^a  

^a INSTITUTO TECNOLÓGICO DE LA LAGUNA   (Mexico)

^b DEPARTAMENTO DE INGENIERÍA QUÍMICA   (Mexico)

^c Desarrollo de Tecnologia Digital Del IPN   (Mexico)

Author keywords

Bounded torques; PID control; Singular perturbations; Stability analysis

Indexed keywords

ACTUATOR TORQUES; ELECTRONIC CONTROL DEVICES; EXPONENTIAL STABILITY; NONLINEAR PID; PID CONTROL; PID REGULATORS; ROBOT MANIPULATOR; SATURATION EFFECTS; SATURATION PROBLEMS; SERVO DRIVER; SINGULAR PERTURBATIONS; SINGULAR PERTURBATIONS METHODS; STABILITY ANALYSIS; THEORETICAL RESULT; VELOCITY CONTROLLERS;

ACTUATORS; ELECTRONICS INDUSTRY; EXPONENTIAL FUNCTIONS; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; POWER ELECTRONICS; PROPORTIONAL CONTROL SYSTEMS; ROBOT APPLICATIONS; SERVOMOTORS; SYSTEM STABILITY; THREE TERM CONTROL SYSTEMS; TORQUE; TWO TERM CONTROL SYSTEMS;

CONTROLLERS;

EID: 77953756785     PISSN: 15986446     EISSN: 20054092     Source Type: Journal    
DOI: 10.1007/s12555-010-0307-4     Document Type: Article

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