经典 PID 对机器人机械臂的全局可调控性研究
原标题：On Global Regulatability of Robot Manipulators by Classical PID
技术动态AI 80
来源：arXiv cs.RO发布时间待核实
arXiv:2609.01207v2 Announce Type: replace Abstract: A long-standing open problem in robot manipulator control is whether global regulation can be achieved by classical PID control. This paper provides an answer to this question for classical PID controllers with triple parameters (k_p,k_i,k_d) in R^3. We find and prove that for one-degree-of-freedom manipulators, the classical PID control guarantees global stability and asymptotic regulation under standard structural assumptions, and further der…