Output-Feedback PID Controllers for Robot Manipulators with Jacobian Uncertainty

This paper presents an output feedback PID controller for anti-windup design of robot manipulators. In this controller, a one-order linear filter is employed to estimate the joint velocity. Due to the constraints imposed on the integral action of PID controller, the problems arising from integrator windup is solved and robustness as well as asymptotic stability of the resulting system is guaranteed in the presence of Jacobian uncertainty. It shows that the proposed scheme is an effective alternative for anti-windup design.