Dynamic sliding PID control for tracking of robot manipulators: theory and experiments

By Vicente Parra‐Vega, S. Arimoto, Yunhui Liu, G. Hirzinger, P. Akella. IEEE Trans. Robotics Autom., 2003

335 citations recorded by the source corpus.

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A review of PID control, tuning methods and applications (2020, background): “Variable structure-based PID control schemes are proposed in [79,80].”
An Adaptive Backstepping Nonsingular Fast Terminal Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators (2019, background): “Second, in order to enhance the transient response of the conventional SMC, integral sliding mode control (ISMC) or PID-based SMC (PID-SMC) has been developed [44-47].”
Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle (2014, neutral): “It can be proven that �� is upper bounded [36], since both desired trajectories and submarine dynamics are bounded (there exists upper bounds for �� ).”
Adaptive Sliding Mode Control With Perturbation Estimation and PID Sliding Surface for Motion Tracking of a Piezo-Driven Micromanipulator (2010, methodology): “Hence, SMC with PID sliding surface has been adopted in various situations [24],”