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Paper FrC8.2

su, Yuxin (Xidian University), Zheng, Chunhong (Xidian University)

A Simple Nonlinear PID Control for Finite-Time Regulation of Robot Manipulators

Scheduled for presentation during the Regular Sessions "Motion Control - I" (FrC8), Friday, May 15, 2009, 13:50−14:10, Room: 406

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Motion Control

Abstract

A simple nonlinear proportional-integral-derivative (PID) controller is proposed to solve the finite-time regulation of uncertain robot manipulators. The semiglobal finite-time stabilization is shown by using Lyapunov theory and finite-time stability theory. The proposed control algorithm does not involve the modeling information in the control law formulation and the control gains can be explicitly determined based on some well-known bounds extracted from the robot dynamics, and thus permits easy implementation. Simulations preformed on a two degrees-of-freedom (DOF) manipulator demonstrate the expected properties of the proposed approach.

 

 

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