Stability Analysis of Independent Joint Pid Feedback Control For Trajectory Tracking of Robot Motion
Journal
Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an
Journal Volume
14
Journal Issue
1
Pages
9-20
Date Issued
1991
Author(s)
Abstract
Abstract In this paper, the effectiveness of a local PID feedback control is discussed via a Lyapunov method. In particular, an energy‐like Lyapunov function is contrived to facilitate the analysis. It is shown that with suitable choice of feedback gains the exponential convergence tracking can be achieved using on‐line state‐dependent or off‐line target‐dependent feedforward compensation, where the latter alleviates excessive computational burden. In the presence of parametrized or non‐parametrized uncertainty of the dynamic model of the system, bounded tracking error is also ensured under similar conditions. This implies the robustness of this control scheme to payload variation and/or unexpected input disturbances. Moreover, the controller is implemented in a decentralized manner despite the highly non‐linear couplings among the joints.
SDGs
Type
journal article