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On Global Regulatability of Robot Manipulators by Classical PID
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 derive explicit quantitative design conditions for the PID gains. However, for multi-degree-of-freedom cases, we can construct a robot manipulator satisfyi
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-01T13:13:54.000Z
First collected: 2026-09-21T06:01:56.170Z. This is not the publication date.