NDLI: A practical PID regulator with bounded torques for robot manipulators

Content Provider	Springer Nature Link
Author	Santibañez, Victor Camarillo, Karla MoreValenzuela, Javier Campa, Ricardo
Copyright Year	2010
Abstract	This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of the closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.
Starting Page	544
Ending Page	555
Page Count	12
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	8
Issue Number	3
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2010-06-05
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Bounded torques PID control singular perturbations stability analysis Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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