New Tuning Conditions for Semiglobal Exponential Stability of the Classical PID Regulator for Rigid Robots

In this paper, we introduce a novel tuning procedure to ensure semi-global exponential stability for the classical PID control of rigid robots. This tuning procedure is expressed in terms of conditions which are more relaxed than those proposed previously in the literature. This allows us to perform...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2015-10, Vol.12 (10)
Main Authors: Orrante-Sakanassi, Jorge, Hernandez Guzman, Victor M., Santibanez, Victor
Format: Article
Language:English
Subjects:
Controllers
Gain
Mathematical models
Regulators
Robot control
Robots
Stability
Tuning
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Summary:In this paper, we introduce a novel tuning procedure to ensure semi-global exponential stability for the classical PID control of rigid robots. This tuning procedure is expressed in terms of conditions which are more relaxed than those proposed previously in the literature. This allows us to perform, for the first time, experimental tests with a classical PID controller ensuring semi-global exponential stability. Finally, we show numerically that previous formal tuning procedures in the literature result in very large controller gains which prohibit the performance of any experimental test.
ISSN:1729-8806
1729-8814
DOI:10.5772/61537