Global Asymptotic Stability of Robot Manipulators with Linear Pid and Pid Control
نویسندگان
چکیده
In this note we address the problem of set-point control of robot manipulators with uncertain gravity knowledge by combining several previous contributions to PID control. The main contribution is a linear PID controller which ensures global asymptotic stability of the closed loop. The key feature of the controller is that the integration is started after a short transient. In the case of unmeasurable velocities, a similar delayed PI2D controller is shown to globally asymptotically stabilize the manipulator.
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