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Dynamic sliding PID control for tracking of robot manipulators: theory and experiments

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5 Author(s)
Parra-Vega, V. ; Mechatronics Div.-CINVESTAV, Mexico City, Mexico ; Arimoto, S. ; Yun-Hui Liu ; Hirzinger, G.
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For a class of robot arms, a proportional-derivative (PD) controller plus gravity compensation yields the global asymptotic stability for regulation tasks, and some proportional-integral-derivative (PID) controllers guarantee local regulation without gravity cancellation. However, these controllers cannot render asymptotic stability for tracking tasks. In this paper, a simple decentralized continuous sliding PID controller for tracking tasks that yields semiglobal stability of all closed-loop signals with exponential convergence of tracking errors is proposed. A dynamic sliding mode without reaching phase is enforced, and terminal attractors, as well as saturated ones, are considered. A comparative experimental study versus PD control, PID control, and adaptive control for a rigid robot arm validates our design.

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Robotics and Automation, IEEE Transactions on  (Volume:19 ,  Issue: 6 )