01193nas a2200145   4500008004100000245008400041210006900125260002900194520064500223653001300868100001600881700001100897700001300908856012600921       2006                        eng d00aRobustness of PID controlled manipulators with respect to external disturbances0 aRobustness of PID controlled manipulators with respect to extern  aSan Diego, USAcDecember3 a<p>We present a robustness analysis for PID-controlled robot manipulators. For robot manipulators under the influence of external disturbances we provide a proof, and a tuning procedure, to establish uniform semiglobal practical asymptotic stability. In particular, in contrasts to other works on robust stability of PIDs, we do not use La Salle's principle but provide a strict Lyapunov function. The perturbations that we consider include discontinuous functions of the state, such as Coulomb friction. As corollaries of our main results, one may conclude the same stability property for the case of motion control using linear PID.</p>
10aRobotics1 aChaillet, A1 aLor, A1 aKelly, R  uhttps://www.centropiaggio.unipi.it/publications/robustness-pid-controlled-manipulators-respect-external-disturbances.html