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		Chunqing HUANG,Songjiao SHI.[en_title][J].Control Theory and Technology,2004,2(2):105~110.[Copy]

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ChunqingHUANG,SongjiaoSHI
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Received:September 23, 2003Revised:May 20, 2004

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Globally robust nonlinear PID controllers for robot manipulators with an uncertain Jacobian matrix

Chunqing HUANG, Songjiao SHI

(Department of Automation, Shanghai Jiao Tong University, Shanghai 200030, China)

Abstract:

Based on a continuous piecewise-differentiable increasing functions vector, a class of robust nonlinear PID (RN-PID) controllers is proposed for setpoint control with uncertain Jacobian matrix. Globally asymptotic stability is guaranteed and only position and joint velocity measurements are required. And stability problem arising from integral action and integrator windup, are consequently resolved. Furthermore, RN-PID controllers can be of effective alternative for anti-integrator-wind-up, the control performance would not be very bad in the presence of rough parameter tuning.

Key words: Robot manipulator PID Globally robust nonlinear PID Uncertain Jacobian matrix Asymptotic stability