Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix
具有不确定雅可比矩阵机器人的鲁棒非线性PID控制器的抗饱和失效设计

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.