Performance Optimization of Saturated Pid Controller for Robot Manipulators

In this paper a new approach to performance tuning of saturated PID controller for robot manipulators is presented. The proposed approach is based on construction of a parameter dependent Lyapunov function. With the appropriate choice of the free parameter, which is not included in stability conditions, a estimation of integral performance index is obtained. The performance index depends on controller parameters and few parameters which characterize the robot dynamics. The optimal values of the controller gains are obtained by minimization of the performance index. An example is given to demonstrate the obtained results.