Robust Nonlinear PID Controllers for Anti-windup Design of Robot Manipulators with an Uncertain Jacobian Matrix

至于有不明确的 Jacobian 矩阵的机器人操纵者的笛卡儿的规定，柔韧的非线性的 PID (RN-PID ) 控制器的一个反上发条的计划被建议解决在象 PID 一样控制系统从不可分的行动和综合者终结产生的实际问题。当位置和联合速度大小仅仅被要求时， Asymptotic 稳定性被保证；靠近环的系统也由于对不可分的行动起作用的限制被保证的结果的坚韧性。特别与另外的反上发条的途径相比，建议算法为反上发条的设计更简单、更有效。

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.