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- W3139593664 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.
- W3139593664 created "2021-04-13" @default.
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- W3139593664 date "2008-01-01" @default.
- W3139593664 modified "2023-09-26" @default.
- W3139593664 title "Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix" @default.
- W3139593664 hasPublicationYear "2008" @default.
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