By Topic

A simple nonlinear PID control for global finite-time regulation of robot manipulators without velocity measurements

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yuxin Su ; Sch. of Electro-Mech. Eng., Xidian Univ., Xi''an, China ; Chunhong Zheng

A simple nonlinear proportional-integral-derivative (PID) controller is proposed for global finite-time regulation of robot manipulators without velocity measurements. A Lyapunov-based stability argument is employ to prove global finite-time stabilization. The proposed control algorithm does not involve the model parameters in the control law formulation and the control gains can be explicitly determined based on some well-known bounds extracted from the robot dynamics, and thus permits easy implementation. Simulations are included to demonstrate the expected properties of the proposed approach.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010