کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
694580 | 890156 | 2008 | 9 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix](/preview/png/694580.png)
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Acta Automatica Sinica - Volume 34, Issue 9, September 2008, Pages 1113-1121
Journal: Acta Automatica Sinica - Volume 34, Issue 9, September 2008, Pages 1113-1121