PID type robot joint position regulation with prescribed performance guaranties

This paper proposes a PID type regulator that achieves not only the global asymptotic convergence of the robot joint velocities and position errors to zero but it also guarantees a prescribed performance for the position error transient that is independent of system constants and control parameters. The proportional term of the control input uses a transformed error (TP) which incorporates the desired performance function; given sufficiently high proportional and damping gains, the proposed TPID controller ensures the position error's prescribed performance irrespective of constant disturbances and choice of control gains. Control parameter selection is merely confined in achieving admissible input torques. Simulation results for a three dof spatial robot confirm the theoretical analysis and illustrate the robustness of the prescribed performance regulator in case of time-variant bounded disturbances.

[1]  P. Tomei.  A simple PD controller for robots with elastic joints , 1991 .

[2]  D. Schroder,et al.  Funnel-Control in robotics: An introduction , 2008, 2008 16th Mediterranean Conference on Control and Automation.

[3]  Eugene P. Ryan,et al.  Tracking control with prescribed transient behaviour for systems of known relative degree , 2006, Syst. Control. Lett..

[4]  Masayoshi Tomizuka,et al.  Adaptive Robust Motion And Force Tracking Control Of Robot Manipulators In Contact With Stiff Surfac , 1998 .

[5]  Zoe Doulgeri,et al.  Prescribed Performance Regulation for Robot Manipulators , 2009, SyRoCo.

[6]  Suguru Arimoto,et al.  A Class of Quasi-Natural Potentials and Hyper-Stable PID Servo-Loops for Nonlinear Robotic Systems , 1994 .

[7]  Suguru Arimoto,et al.  A New Feedback Method for Dynamic Control of Manipulators , 1981 .

[8]  Suguru Arimoto,et al.  Robot Control for Nonlinear Robotic Systems , 2005 .

[9]  Suguru Arimoto,et al.  Control Theory of Nonlinear Mechanical Systems , 1996 .

[10]  Charalampos P. Bechlioulis,et al.  Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance , 2008, IEEE Transactions on Automatic Control.

[11]  Charalampos P. Bechlioulis,et al.  Prescribed performance adaptive control for robot force/position tracking , 2009, 2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC).

[12]  Masayoshi Tomizuka,et al.  Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form , 1997, Autom..

[13]  R. Kelly,et al.  PID regulation of robot manipulators: stability and performance , 2000 .

[14]  Rafael Kelly,et al.  A tuning procedure for stable PID control of robot manipulators , 1995, Robotica.

[15]  Masayoshi Tomizuka,et al.  Adaptive Robust Motion and Force Tracking Control of Robot Manipulators in Contact With Compliant Surfaces With Unknown Stiffness , 1998 .

[16]  Zoe Doulgeri,et al.  Prescribed performance control for robot joint trajectory tracking under parametric and model uncertainties , 2009, 2009 17th Mediterranean Conference on Control and Automation.

[17]  Charalampos P. Bechlioulis,et al.  Robot force/position tracking with guaranteed prescribed performance , 2009, 2009 IEEE International Conference on Robotics and Automation.

[18]  Suguru Arimoto,et al.  State-of-the-art and future research directions of robot control , 1994 .

[19]  R. Ortega,et al.  A semiglobally stable output feedback PI2D regulator for robot manipulators , 1995, IEEE Trans. Autom. Control..

[20]  Masayoshi Tomizuka,et al.  Adaptive robust control of MIMO nonlinear systems in semi-strict feedback forms , 2001, Autom..