PD plus error-dependent integral nonlinear controllers for robot manipulators with an uncertain Jacobian matrix

► The architecture of traditional PID controller limits the potential for performance improving. ► The proposed nonlinear PID is developed to break through this limit. ► The proposed controllers possess the superior transient performance over the traditional one. ► Asymptotic stability of the resulting system is guaranteed. ► All signals keep bounded when the system is subjected to bounded exogenous disturbances.