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Global PID Control of Robot Manipulators Equipped with PMSMs
Author(s) -
HernándezGuzmán V. M.,
OrranteSakanassi J.
Publication year - 2018
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1532
Subject(s) - control theory (sociology) , pid controller , control engineering , nonlinear system , robotics , exponential stability , controller (irrigation) , robot , stability (learning theory) , position (finance) , computer science , actuator , engineering , control (management) , artificial intelligence , physics , temperature control , agronomy , finance , quantum mechanics , machine learning , economics , biology
This paper is concerned with PID position regulation of robot manipulators actuated by permanent magnet synchronous motors (PMSMs). We present a global asymptotic stability proof when the electric dynamics of these actuators is taken into account. Our controller is so simple that it differs from standard field oriented control (SFOC) of PMSMs in only three simple nonlinear terms that have to be added and a nonlinear PID controller which is used instead of a classical PID controller. Thus, our proposal represents the closest result to SFOC of PMSMs provided with a formal global asymptotic stability proof. We present an advancement, if modest, towards presenting a global stability proof for SFOC when used in robotics.