Position Control of Lagrangian Robotic Systems via an Affine PID-Based Controller and Using the LMI Approach

Jenhani, Sahar; Gritli, Hassène; Carbone, Giuseppe

doi:10.1007/978-3-031-10776-4_84

Cited by 8 publications

(1 citation statement)

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“…In addition, the control problem of underactuated robotic systems via the affine PD-based controller has been considered in (Jenhani et al 2022d). Furthermore, in (Jenhani et al 2022e), we applied an affine PID-based controller to control the Lagrangian robotic systems using the dynamical model which described the difference into the nonlinear dynamics and its approximated linear model.…”

Section: Introductionmentioning

confidence: 99%

Comparison Between Some Nonlinear Controllers for the Position Control of Lagrangian-type Robotic Systems

Jenhani

Gritli

Carbone

2022

Chaos Theory and Applications

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This work addresses the set-point control problem of the position of fully-actuated Lagrangian-type robotic systems by means of some nonlinear control laws. We adopt four different nonlinear control laws: the PD plus gravity compensation controller, the PD plus desired gravity compensation controller, the computed-torque controller and the augmented PD plus gravity compensation controller. An in-depth comparison between these control laws and their application is achieved. Indeed, using some properties, we design some conditions on the feedback gains of the nonlinear controllers ensuring the stability in the closed loop of the zero-equilibrium point and its uniqueness. At the end of this work, we adopt a planar two-degree-of-freedom manipulator robot to illustrate via simulation the difference between and the efficiency of the adopted nonlinear controllers.

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Section: Introductionmentioning

confidence: 99%