Control of Robot Manipulators in Joint Space

By R. Dekkers. 2005

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A practical PID regulator with bounded torques for robot manipulators (2010, background): “It is well known that industrial robots are equipped with PID controllers which practically assure the semiglobal asymptotic stability of the closed-loop equilibrium for the regulation case [1] [2] [3] [4] [5] [6] [7] [8].”
Global Stabilisation of Underactuated Mechanical Systems via PID Passivity-Based Control (2016, positive): “1 Identification of the class We consider general underactuated mechanical systems whose dynamics is described by the well known Euler-Lagrange equations of motion M(q)q̈ + C(q, q̇)q̇ + ∇V (q) = G(q)τ, (1) where q ∈ R are the configuration variables, τ ∈ R, with m < n, are the control signals, M : R”
Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph (2012, background): “Examples include robot manipulators in joint space with unknown but constant masses, inertias and distances of the centers of mass of the links (Kelly et al., 2005; Spong et al., 2006), attitude dynamics of rigid bodies with unknown but constant inertias (Slotine & Li, 1991), and car-like robots…”