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	PD plus error-dependent integral nonlinear controllers for robot manipulators with an uncertain Jacobian matrix
	Huang, C. Q. ; Huang CQ(黄春庆) ; Xie, L. F. ; Liu, Y. L.
	2012-11
关键词	Robot manipulator Nonlinear PID Uncertain pcobian
英文摘要	In framework of traditional PID controllers, there are only three parameters available to tune, as a result, performance of the resulting system is always limited. As for Cartesian regulation of robot manipulators with uncertain Jacobian matrix, a scheme of PID controllers with error-dependent integral action is proposed. Compare with traditional PID controllers, the error-dependent integration is employed in the proposed PID controller, in which more parameters are available to be tuned. It provides additional flexibility for controller characteristics and tuning as well, and hence makes better transient performance. In addition, asymptotic stability of the resulting closed-loop system is guaranteed. All signals in the system are bounded when exogenous disturbances and measurement noises are bounded. Numerical example demonstrates the superior transient performance of the proposed controller over the traditional one via Cartesian space set-point manipulation of two-link robotic manipulator. (c) 2012 ISA. Published by Elsevier Ltd. All rights reserved.; Fundamental Research Funds for the Central Universities [2010121064]; Research Fund for the Doctoral Program of Higher Education [20070384031, 20100121120022]; Nature Science Foundation of Fujian Province of China [2010J05140]
语种	英语
出版者	ELSEVIER SCIENCE INC
内容类型	期刊论文
源URL	[http://dx.doi.org/10.1016/j.isatra.2012.06.003]
专题	信息技术－已发表论文
推荐引用方式 GB/T 7714	Huang, C. Q.,Huang CQ,Xie, L. F.,et al. PD plus error-dependent integral nonlinear controllers for robot manipulators with an uncertain Jacobian matrix[J],2012.
APA	Huang, C. Q.,黄春庆,Xie, L. F.,&Liu, Y. L..(2012).PD plus error-dependent integral nonlinear controllers for robot manipulators with an uncertain Jacobian matrix..
MLA	Huang, C. Q.,et al."PD plus error-dependent integral nonlinear controllers for robot manipulators with an uncertain Jacobian matrix".(2012).

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