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New tuning conditions for a class of nonlinear PID global regulators of robot manipulators

机译：一类机械臂非线性PID全局调节器的新调节条件

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摘要

Several nonlinear proportional-integral-derivative (PID) controllers for robot manipulators that ensure global asymptotic stability have been proposed in the literature. However, the tuning criteria obtained are expressed in terms of conditions so restrictive that they have avoided, until now, carrying out experimental tests with such controllers. Tuning criteria of some PID controllers for robot manipulators with conditions more relaxed than those presented previously in the literature have been proposed in two recent works by the authors. This was achieved by setting the tuning conditions individually for each joint instead of general conditions for the whole robot. In this paper we extend these results to a class of nonlinear PID global regulators for robot manipulators. The obtained tuning criteria are given in terms of conditions so relaxed that they have allowed to carry out, for the first time, experimental essays with these controllers. Such experiments are presented in this paper using a two-degrees-of-freedom robot manipulator.
机译：在文献中已经提出了几种用于机器人操纵器的非线性比例-积分-微分（PID）控制器，这些控制器可确保全局渐近稳定性。但是，所获得的调节标准是用严格的条件表示的，以至于到目前为止，它们都避免使用这种控制器进行实验测试。作者最近在两项最新工作中提出了一些条件比以前文献中介绍的条件更宽松的机器人操纵器PID控制器的调节标准。这是通过为每个关节分别设置调整条件而不是为整个机器人设置一般条件来实现的。在本文中，我们将这些结果扩展到一类用于机器人操纵器的非线性PID全局调节器。所获得的调整标准是根据条件宽松而给出的，以至于它们首次允许使用这些控制器进行实验性论文。本文使用两自由度机器人操纵器介绍了此类实验。

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