PID Robust Control for Robot Manipulators with Parametric Uncertainty

L. Aguilar, L. Acho, and R. Guerra (USA)


Parametric uncertainty, PID control, robot manipulators.


In this paper a Proportional-Integral-Derivative (PID) ro bust control scheme is derived for robot manipulators where an uncertain unknown bound between real and nom inal parameters of the robot model is considered. Stabil ity analysis is given within the Lyapunov vector function framework. Performance issues of the PID robust con troller are evaluated in an experimental study of a three degrees-of-freedom robot manipulator.

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