Global Asymptotic Saturated PID Control for Robot Manipulators

• Published in: IEEE transactions on control systems technology Vol. 18; no. 6; pp. 1280 - 1288
• Main Authors: Su, Yuxin, Muller, Peter C., Zheng, Chunhong
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.11.2010; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuator saturation; Actuators; Applied sciences; Asymptotic properties; asymptotic stability; bounded control; Computer science; control theory; systems; Control system analysis; Control system synthesis; Control systems; Control theory. Systems; Drives; Exact sciences and technology; global stability; Gravity; Linkage mechanisms, cams; Manipulators; Mathematical models; Mechanical engineering. Machine design; Payloads; PD control; Proportional control; Proportional integral derivative; proportional-integral-derivative (PID) control; Robot arms; Robot control; Robotics; Robots; Three-term control; Torque control; Bounded control; Invariant; proportional-integral-derivative (PID) control; robot control; Saturation; Control program; Invariance principle; global stability; Modeling; Robotics; Actuator saturation; Manipulator; Asymptotic stability; Global stabilization; Apparatus failure; Asymptotic approximation; Differential integral proportional control; Actuator; Lyapunov function
• ISSN: 1063-6536; 1558-0865
• DOI: 10.1109/TCST.2009.2035924

This paper addresses the global asymptotic regulation of robot manipulators under input constraints, both with and without velocity measurements. It is proven that robot systems subject to bounded inputs can be globally asymptotically stabilized via a saturated proportional-integral-derivative (PID) control in agreement with Lyapunov's direct method and LaSalle's invariance principle. Advantages of the proposed controller include an absence of modeling parameters in the control law formulation and an ability to ensure actuator constraints are not breached. This is accomplished by selecting control gains a priori, removing the possibility of actuator failure due to excessive torque input levels. The effectiveness of the proposed approach is illustrated via simulations.