A tuning procedure for stable PID control of robot manipulators
- 9 March 1995
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 13 (2) , 141-148
- https://doi.org/10.1017/s0263574700017641
Abstract
Summary: In this paper we propose some simple rules for PID tuning of robot manipulators. The procedure suggested requires the knowledge of the structure of the inertia matrix and the gravitational torque vector of the robot dynamics, but only upper bounds on the dynamics parameters are needed. This tuning procedure is extracted from the stability analysis by using a suitable Lyapunov function together with the LaSalle invariance principle. We show that with this guideline, the overall closed-loop system is asymptotically stable. This procedure is illustrated for a two degrees-of-freedom robotKeywords
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