Global stability of a saturated nonlinear PID controller for robotic manipulators

Dong Sun; Xiaoyin Shao; Yuxin Su

doi:10.1109/IROS.2006.282240

Global stability of a saturated nonlinear PID controller for robotic manipulators

Dong Sun
, Xiaoyin Shao
, Yuxin Su

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

5 Citations (Scopus)

Abstract

This paper presents a simple and globally stable nonlinear proportional-integral-derivative (N-PID) controller incorporated with a saturated function design. The proposed controller is formulated by using a new class of saturated function derived from quasi-natural potential function to shape the position and velocity errors. The global asymptotic stability of the controlled system for the setpoint position control is proven. Experiments are performed on an industrial robot manipulator to demonstrate the improved performance of the proposed approach over conventional linear PID controller. © 2006 IEEE.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	3032-3037
DOIs	https://doi.org/10.1109/IROS.2006.282240
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 9 Oct 2006 → 15 Oct 2006 https://ieeexplore.ieee.org/xpl/conhome/4058334/proceeding

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Place	China
City	Beijing
Period	9/10/06 → 15/10/06
Internet address	https://ieeexplore.ieee.org/xpl/conhome/4058334/proceeding

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Research Keywords

Global stability
Nonlinear proportional-integral-derivative (N-PID) control
Saturated function
Set-point control

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10.1109/IROS.2006.282240

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title = "Global stability of a saturated nonlinear PID controller for robotic manipulators",

abstract = "This paper presents a simple and globally stable nonlinear proportional-integral-derivative (N-PID) controller incorporated with a saturated function design. The proposed controller is formulated by using a new class of saturated function derived from quasi-natural potential function to shape the position and velocity errors. The global asymptotic stability of the controlled system for the setpoint position control is proven. Experiments are performed on an industrial robot manipulator to demonstrate the improved performance of the proposed approach over conventional linear PID controller. {\textcopyright} 2006 IEEE.",

keywords = "Global stability, Nonlinear proportional-integral-derivative (N-PID) control, Saturated function, Set-point control",

author = "Dong Sun and Xiaoyin Shao and Yuxin Su",

year = "2006",

doi = "10.1109/IROS.2006.282240",

language = "English",

isbn = "142440259",

pages = "3032--3037",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

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TY - GEN

T1 - Global stability of a saturated nonlinear PID controller for robotic manipulators

AU - Sun, Dong

AU - Shao, Xiaoyin

AU - Su, Yuxin

PY - 2006

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N2 - This paper presents a simple and globally stable nonlinear proportional-integral-derivative (N-PID) controller incorporated with a saturated function design. The proposed controller is formulated by using a new class of saturated function derived from quasi-natural potential function to shape the position and velocity errors. The global asymptotic stability of the controlled system for the setpoint position control is proven. Experiments are performed on an industrial robot manipulator to demonstrate the improved performance of the proposed approach over conventional linear PID controller. © 2006 IEEE.

AB - This paper presents a simple and globally stable nonlinear proportional-integral-derivative (N-PID) controller incorporated with a saturated function design. The proposed controller is formulated by using a new class of saturated function derived from quasi-natural potential function to shape the position and velocity errors. The global asymptotic stability of the controlled system for the setpoint position control is proven. Experiments are performed on an industrial robot manipulator to demonstrate the improved performance of the proposed approach over conventional linear PID controller. © 2006 IEEE.

KW - Global stability

KW - Nonlinear proportional-integral-derivative (N-PID) control

KW - Saturated function

KW - Set-point control

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U2 - 10.1109/IROS.2006.282240

DO - 10.1109/IROS.2006.282240

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 142440259

SN - 9781424402595

SP - 3032

EP - 3037

BT - IEEE International Conference on Intelligent Robots and Systems

T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

Y2 - 9 October 2006 through 15 October 2006

ER -

Global stability of a saturated nonlinear PID controller for robotic manipulators

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