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PD and PID model-based control stability analysis of the PUMA-560 robot manipulator under model mismatch

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Abstract

The stability of the PUMA-560 robot manipulator is investigated under model mismatch using PD and PID controllers. Craig's quadratic half-plane constraint analysis is applied, and conditions are found in terms of calculated position and velocity error upper bounds to guarantee the stability of the robot arm under PD control. The theory is extended to guarantee stability under PID control using the modified positive quadratic space constraint analysis. Dynamic model mismatch is assumed to result from incomplete knowledge of the link masses, centers of mass and radii of gyration. The results indicate stability regions under different percentages of individual and combined parameter mismatch in the model.

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Authors and Affiliations

  1. The Center for Advanced Computer Studies, The University of Southwestern Louisiana, 70504, Lafayette, LA, USA

    Kimon P. Valavanis

  2. EE Royal Institute of Technology, Tegnergatan 40-214, S-113 59, Stockholm, Sweden

    Thomas B. Larsson

  3. GE Aircraft Engines, 1000 Western Ave., MD 2103J, 01910, Lynn, MA, USA

    Stephen P. Gardner

Authors
  1. Kimon P. Valavanis
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  2. Thomas B. Larsson
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  3. Stephen P. Gardner
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Valavanis, K.P., Larsson, T.B. & Gardner, S.P. PD and PID model-based control stability analysis of the PUMA-560 robot manipulator under model mismatch. J Intell Robot Syst 7, 233–254 (1993). https://doi.org/10.1007/BF01257821

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  • DOI: https://doi.org/10.1007/BF01257821

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