具有不确定雅可比矩阵机器人的鲁棒非线性PID控制器的抗饱和失效设计 / Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix
- Resource Type
- Academic Journal
- Authors
- 黄春庆; 彭侠夫; 王军平; HUANG Chun-Qing; PENG Xia-Fu; WANG Jun-Ping
- Source
- 自动化学报 / ACTA AUTOMATICA SINICA. 34(9):1113-1121
- Subject
- Robot manipulator
robust nonlinear PID
anti-windup
robustness
uncertain Jacobian
- Language
- Chinese
- ISSN
- 0254-4156
As for Cartesian regulation of robot manipulators with uncertain Jacobian matrix, an anti-windup scheme of robust nonlinear PID (RN-PID) controllers is proposed to solve the practical problems arising from integral action and integrator windup in PID-like control systems. Asymptotic stability is guaranteed while position and joint velocity measurements are only required;robustness of the resulting closed-loop system is also guaranteed due to the constraints acting on integral action. Especially, compared with other anti-windup approachs, the proposed algorithm is simpler and more effective for anti-windup design.