PID control for global finite-time regulation of robotic manipulators

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.

KEYWORDS:

• Robot control
• regulation
• global stability
• finite-time stability
• proportional-integral-derivative (PID) control

Acknowledgments

The authors would like to thanks the Associate Editor and the anonymous reviewers for their valuable comments.

Disclosure statement

No potential conflict of interest was reported by the authors.