IEEE - Institute of Electrical and Electronics Engineers, Inc. - Sliding PID Control for Trajectory Tracking of a 2 DOE Robot Manipulator: Simulations and Experiments

2007 4th International Conference on Electrical and Electronics Engineering (ICEEE 2007)

Author(s): D. Muro-Maldonado ; A. Rodriguez-Angeles ; C.A. Cruz-Villar
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 September 2007
Conference Location: Mexico City, Mexico
Conference Date: 5 September 2007
Page(s): 302 - 305
ISBN (CD): 978-1-4244-1166-5
ISBN (Paper): 978-1-4244-1165-8
DOI: 10.1109/ICEEE.2007.4345028
Regular:

For a class of robot arms, a proportional derivative (PD) controller plus gravity compensation yields the global asymptotic stability for regulation tasks, and some proportional integral... View More

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