PID control for global finite-time regulation of robotic manipulators

Yuxin Su and Chunhong Zheng

International Journal of Systems Science, 2017, vol. 48, issue 3, 547-558

Abstract: This paper addresses the global finite-time regulation problem of robotic manipulators. A simple nonlinear proportional-integral-derivative (PID) control is proposed by adding a nonlinear proportional and derivative term to the commonly used PID controller. Lyapunov's stability theory and geometric homogeneity technique are employed to prove global finite-time stability. Advantages of the proposed control include the absence of modelling information in the control law formulation and the global finite-time stability featuring fast transient and high-precision positioning. Explicit conditions on the controller parameters to ensure global finite-time regulation stability are obtained. Simulations are presented to demonstrate the effectiveness and the improved performances of the proposed approach.

Date: 2017
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DOI: 10.1080/00207721.2016.1193256

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