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• W2002954889 abstract "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." @default.
• W2002954889 created "2016-06-24" @default.
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• W2002954889 date "2008-09-01" @default.
• W2002954889 modified "2023-10-16" @default.
• W2002954889 title "Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix" @default.
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• W2002954889 doi "https://doi.org/10.1016/s1874-1029(08)60050-6" @default.
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