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Research questionCan classical PID globally stabilize and asymptotically regulate robot manipulators with one versus multiple degrees of freedom?The central issue is whether fixed proportional–integral–derivative gains can ensure global stability and convergence under standard structural assumptions. Coupled multi-degree-of-freedom dynamics may impose limitations absent in the single-degree-of-freedom case.
Robotics
Latest papersRecent research connected to this question, newest first.On Global Regulatability of Robot Manipulators by Classical PIDThe source concerns classical PID controllers with gain triples (k_p, k_i, k_d) for robot manipulators under standard structural assumptions. It derives quantitative gain conditions for one-degree-of-freedom manipulators and constructs a multi-degree-of-freedom manipulator for which no PID gain choice achieves global asymptotic regulation; this does not establish impossibility for every multi-degree-of-freedom manipulator.research paper · Sep 3, 2026
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