IEEE - Institute of Electrical and Electronics Engineers, Inc. - PID type robot joint position regulation with prescribed performance guaranties

2010 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Doulgeri, Z. ; Karayiannidis, Y.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2010
Conference Location: Anchorage, AK, USA, USA
Conference Date: 3 May 2010
Page(s): 4,137 - 4,142
ISBN (CD): 978-1-4244-5040-4
ISBN (Paper): 978-1-4244-5038-1
ISSN (CD): 1050-4729
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2010.5509676
Regular:

This paper proposes a PID type regulator that achieves not only the global asymptotic convergence of the robot joint velocities and position errors to zero but it also guarantees a prescribed... View More

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