New PID-type controllers for robot manipulators with an uncertain Jacobian matrix

As for PID controllers with the traditional structure, performance of the resulting system is always limited since there are only three parameters available to tune. As far as Cartesian regulation of robot manipulators with uncertain Jacobian matrix is concerned, a novel form of PID controller, i.e. PD plus Delay-feedback integrator is proposed and it improves transient performance significantly over the traditional PID control systems. Finally, numerical simulation demonstrates effectiveness of the proposed scheme.