Title :
New PID-type controllers for robot manipulators with an uncertain Jacobian matrix
Author :
Huang Chunqing ; Junping Wang
Author_Institution :
Dept. of Autom., Xiamen Univ., Xiamen, China
Abstract :
As for PID controllers with the traditional structure, performance of the resulting system is always limited since there are only three parameters available to tune. As far as Cartesian regulation of robot manipulators with uncertain Jacobian matrix is concerned, a novel form of PID controller, i.e. PD plus Delay-feedback integrator is proposed and it improves transient performance significantly over the traditional PID control systems. Finally, numerical simulation demonstrates effectiveness of the proposed scheme.
Keywords :
Jacobian matrices; PD control; delays; feedback; integrating circuits; manipulators; three-term control; Cartesian regulation; PID control systems; delay-feedback integrator; robot manipulators; transient performance; uncertain jacobian matrix; Automatic control; Control systems; Gravity; Jacobian matrices; Manipulators; Motion control; PD control; Robot control; Three-term control; Uncertainty;
Conference_Titel :
Control and Automation (ICCA), 2010 8th IEEE International Conference on
Conference_Location :
Xiamen
Print_ISBN :
978-1-4244-5195-1
Electronic_ISBN :
1948-3449
DOI :
10.1109/ICCA.2010.5524283