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A simple PID control for asymptotic visual regulation of robot manipulators
Author(s) -
Su Yuxin,
Zheng Chunhong
Publication year - 2010
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1648
Subject(s) - control theory (sociology) , pid controller , jacobian matrix and determinant , lyapunov function , kinematics , simple (philosophy) , mathematics , transpose , robot , exponential stability , computer science , control (management) , control engineering , artificial intelligence , engineering , eigenvalues and eigenvectors , nonlinear system , temperature control , philosophy , physics , epistemology , classical mechanics , quantum mechanics
This paper addresses the asymptotic regulation problem of robot manipulators with a vision‐based feedback. A simple image‐based transpose Jacobian proportional‐integral‐derivative (PID) control is proposed. The closed‐loop system formed by the proposed PID control and robot system is shown to be asymptotically stable by using Lyapunov's direct method and LaSalle's invariance theorem. Advantages of the proposed control include the absence of dynamical model parameters in the control law formulation and the control gains are easily chosen according to simple inequalities including some well‐known bounds extracted from robot dynamics and kinematics. Simulations performed on a two degree‐of‐freedom manipulator are provided to illustrate the effectiveness of the proposed approach. Copyright © 2010 John Wiley & Sons, Ltd.