Robust Saturated PI Joint Velocity Control for Robot Manipulators

Abstract

It is well known that many industrial manipulators use an embedded linear proportional‐integral (PI) joint velocity controller to guarantee motion control through proper velocity commands. However, although this control scheme has been very successful in practice, not much attention has been paid to designing new PI velocity control structures. The problem of analyzing a saturated PI velocity joint velocity controller is addressed in this paper. By using the theory of singularly perturbed systems, the closed‐loop system is studied. The robot dynamics assumed in this paper take into account bounded time–varying disturbances which may include the friction at the joints. An experimental study in a planar two degrees‐of‐freedom direct‐drive robot is also presented, confirming the advantage of the new saturated PI joint velocity controller.

Robust H∞ Tracking Control of Uncertain Robotic Systems with Periodic Disturbances

“…þb n cosnwt þ the higher-order terms (5) where w = 2π/T. After some manipulations, the nth component, d mn (t) = a n sinnwt + b n cosnwt, is equal to the output of the following dynamic equation…”

“…The tracking control of uncertain robotic systems has received significant research attention over the past few decades. Many robust control and adaptive control approaches have been introduced to treat this control problem [1][2][3][4][5][6][7][8].…”

A novel auto-tuning PID control mechanism for nonlinear systems

“…Adaptive control scheme can be alternatively invoked a PID controller in cascade with fuzzy predictor [11]. Also, many new PID controllers which were tested for electromechanical systems are proposed in the literature [12][13][14][15][16][17].…”

Adaptive and sliding mode control of a mobile manipulator actuated by DC motors

“…To guarantee the rejection of disturbances, a robust generalised proportional integral observer-based, timer output feedback controller was proposed for the trajectory tracking tasks in an omnidirectional mobile robot (Sira-Ramirez et al, 2013). In addition, saturated PI velocity controller was applied to robot manipulators in order to eliminate bounded time varying disturbances (Moreno-Valenzuela and Santibez, 2013).…”