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http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1743| A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs | |
| MARCO OCTAVIO MENDOZA GUTIERREZ Arturo Zavala Río Victor Santibanez José Fernando Reyes Cortés | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| https://doi.org/10.1080/00207179.2015.1027272 | |
| PID control Global regulation Robot manipulators Bounded inputs Simple tuning | |
| "In this paper, a globally stabilising PID-type control scheme with a generalised saturating structure for robot manipulators under input constraints is proposed. It gives rise to various families of bounded PID-type controllers whose implementation is released from the exact knowledge of the system parameters and model structure. Compared to previous approaches of the kind, the proposed scheme is not only characterised by its generalised structure but also by its very simple tuning criterion, the simplest hitherto obtained in the considered analytical framework. Experimental results on a 3-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed approach." | |
| Taylor & Francis | |
| 2015 | |
| Artículo | |
| Marco Mendoza, Arturo Zavala-Río, Víctor Santibáñez & Fernando Reyes (2015) A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs, International Journal of Control, 88:10, 1995-2012, DOI: 10.1080/00207179.2015.1027272 | |
| MATEMÁTICAS | |
| Versión aceptada | |
| acceptedVersion - Versión aceptada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |
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| IntJControl88(2015)1995.pdf | 1.22 MB | Adobe PDF | Visualizar/Abrir |