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A Practical PID Regulator with Bounded Torques for Robot Manipulators
Victor Santibanez,Karla Camarillo,Javier Moreno-Valenzuela,Ricardo Campa 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.3
This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our control-ler considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of the closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.