@inproceedings{e1b5cbad75054a8ea5f9ef29865f643f,
title = "Nonlinear PID and feedforward control of robotic manipulators",
abstract = "The purpose of this paper is to design a nonlinear PID controller for trajectory tracking of a manipulator robot. The objective is to develop a PID controller having high performances for the controllability and the stability of the manipulator. Moreover, the controller should be easy to implement. In a first step a PID plus a feedforward controller has been developed and implemented on a SCARA robot. In the second step and in order to increase performances of the developed control law, an improving version has been developed by adopting nonlinear gains. Simulation results show the effectiveness of the control law in particular in the presence of variable gains.",
keywords = "feedforward control, PD control, robot manipulator, Tracking trajectory, variable gains",
author = "Fatma Abdelhedi and Yassine Bouteraa and Ahmed Chemori and Nabil Derbel",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2014 ; Conference date: 21-12-2014 Through 23-12-2014",
year = "2014",
month = apr,
day = "15",
doi = "10.1109/STA.2014.7086798",
language = "English",
series = "STA 2014 - 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "349--354",
booktitle = "STA 2014 - 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering",
address = "United States",
}