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A tuning procedure for stable PID control of robot manipulators*

Published online by Cambridge University Press:  09 March 2009

Rafael Kelly
Rafael Kelly
Affiliation:
División de Fisica Aplicada, CICESE, Carretera Tijuana-Ensenada Km. 107, Apdo. Postal 2732, Ensenada, B.C., 22800 (Mexico)
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Summary

In this paper we propose some simple rules for PID tuning of robot manipulators. The procedure suggested requires the knowledge of the structure of the inertia matrix and the gravitational torque vector of the robot dynamics, but only upper bounds on the dynamics parameters are needed. This tuning procedure is extracted from the stability analysis by using a suitable Lyapunov function together with the LaSalle invariance principle. We show that with this guideline, the overall closed-loop system is asymptotically stable. This procedure is illustrated for a two degrees-of-freedom robot

Keywords

PID controlSet-point controlStabilityRobots
Type
Articles
Information
Robotica , Volume 13 , Issue 2 , March 1995 , pp. 141 - 148
Copyright
Copyright © Cambridge University Press 1995

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