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Robust Adaptive PID Control of Robot Manipulator with Bounded Disturbances
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-20
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
To solve the strong nonlinearity and coupling problems in robot manipulator control, two novel robust adaptive PID control schemes are proposed in this paper with known or unknown upper bound of the external disturbances.
Invoking the two proposed controllers, the unknown bounded external disturbances can be compensated and the global asymptotical stability with respect to the manipulator positions and velocities is able to be guaranteed.
As compared with the existing adaptive PD control methods, the designed control laws can enlarge the tolerable external disturbances, enhance the accuracy in finite-time trajectory tracking control, and improve the dynamic performance of the manipulator systems.
The stability and convergence properties of the closed-loop system are analytically proved using Lyapunov stability theory and Barbalat’s lemma.
Simulations are performed for a planner manipulator with two rotary degrees of freedom to illustrate the viability and the advantages of the proposed controllers.
American Psychological Association (APA)
Xu, Jian& Qiao, Lei. 2013. Robust Adaptive PID Control of Robot Manipulator with Bounded Disturbances. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-13.
https://search.emarefa.net/detail/BIM-1009754
Modern Language Association (MLA)
Xu, Jian& Qiao, Lei. Robust Adaptive PID Control of Robot Manipulator with Bounded Disturbances. Mathematical Problems in Engineering No. 2013 (2013), pp.1-13.
https://search.emarefa.net/detail/BIM-1009754
American Medical Association (AMA)
Xu, Jian& Qiao, Lei. Robust Adaptive PID Control of Robot Manipulator with Bounded Disturbances. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-13.
https://search.emarefa.net/detail/BIM-1009754
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1009754