Email this article PID controllers with delay in a problem of stabilization of robotic manipulators’ desired motions
- Authors: Andreev A.S.1, Kolegova L.V.1
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Affiliations:
- Ulyanovsk State University
- Issue: Vol 24, No 3 (2022)
- Pages: 267-279
- Section: Mathematics
- Published: 24.08.2022
- URL: https://journals.rcsi.science/2079-6900/article/view/365919
- DOI: https://doi.org/10.15507/2079-6900.24.202203.267-279
- ID: 365919
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Abstract
Proportional-integro-differentiating (PID) controllers are widely used in solving control problems of technical systems, including mechanical ones. For this case, most of works are limited to the study of stabilization problem for steady motions and states; such studies are based on the analysis of model equations in a linear approximation. On the other hand, one of the urgent problems of controlled-motion mechanics is the problem of using PID controllers in tracking the trajectories of multi-link robotic manipulators with semi-global or global stabilization in a non-linear formulation. Practically little studied is the problem of justifying the applicability of such controllers taking into account possible delay in the feedback structure. This paper deals with such a problem. As an application of the theory developed in this paper, the control for a motion of a six-link manipulator is obtained.
About the authors
Aleksandr S. Andreev
Ulyanovsk State University
Email: asa5208@mail.ru
ORCID iD: 0000-0002-9408-0392
Ph. D. (Physics and Mathematics), Head of the Department of Information Security and Control Theory
Russian Federation, 42 L. Tolstoy St., Ulyanovsk 432017, RussiaLubov V. Kolegova
Ulyanovsk State University
Author for correspondence.
Email: lyubov_fedorova_1994@mail.ru
ORCID iD: 0000-0002-3160-0602
Assistant Professor, Department of Information Security and Control Theory
Russian Federation, 42 L. Tolstoy St., Ulyanovsk 432017, RussiaReferences
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