New Tuning Conditions for Semiglobal Exponential Stability of the Classical PID Regulator for Rigid Robots | Zendy

Jorge Alberto Orrante-Sakanassi | Zendy; Victor Manuel Hernández-Guzmán | Zendy; Víctor Santibáñez | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

New Tuning Conditions for Semiglobal Exponential Stability of the Classical PID Regulator for Rigid Robots

Author(s) -

Jorge Alberto Orrante-Sakanassi,

Victor Manuel Hernández-Guzmán,

Víctor Santibáñez

Publication year - 2015

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/61537

Subject(s) - pid controller , control theory (sociology) , computer science , exponential stability , stability (learning theory) , exponential function , robot , controller (irrigation) , control engineering , control (management) , mathematics , artificial intelligence , temperature control , nonlinear system , physics , engineering , biology , mathematical analysis , quantum mechanics , machine learning , agronomy

In this paper, we introduce a novel tuning procedure to ensure semi-global exponential stability for the classical PID control of rigid robots. This tuning procedure is expressed in terms of conditions which are more relaxed than those proposed previously in the literature. This allows us to perform, for the first time, experimental tests with a classical PID controller ensuring semi-global exponential stability. Finally, we show numerically that previous formal tuning procedures in the literature result in very large controller gains which prohibit the performance of any experimental test

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research