A simple PID control for asymptotic visual regulation of robot manipulators

Abstract

This paper addresses the asymptotic regulation problem of robot manipulators with a vision-based feedback. A simple image-based transpose Jacobian proportional-integral-derivative (PID) control is proposed. The closed-loop system formed by the proposed PID control and robot system is shown to be asymptotically stable by using Lyapunov's direct method and LaSalle's invariance theorem. Advantages of the proposed control include the absence of dynamical model parameters in the control law formulation and the control gains are easily chosen according to simple inequalities including some well-known bounds extracted from robot dynamics and kinematics. Simulations performed on a two degree-of-freedom manipulator are provided to illustrate the effectiveness of the proposed approach. Copyright © 2010 John Wiley & Sons, Ltd.