S. Arimoto and F. Miyazaki, “Stability and robustness of PID feedback control for robot manipulators of sensory capability,” in M. Brady and R.P. Paul (Ed.), Robotics Researches: First International Symposium, MIT Press, Cambridge, MA, pp. 783–799, 1984.
S. Arimoto, T. Naniwa, and H. Suzuki, “Asymptotic stability and robustness of PID local feedback for position control of robot manipulators,” Proc. of International Conf. on Automation Robotics and Computer Vision ICARCV’90, Singapore, pp. 382–386, 1990.
R. Kelly, “Regulation of robotic manipulators: stability analysis via the Lyapunov’s first method,” Internal Report, CICESE, Ensenada, B.C., Mexico, 1995.
R. Kelly, “A tuning procedure for stable PID control of robot manipulators,” Robotica, vol. 13, no. 2, pp. 141–148, 1995.
R. Ortega, A. Loria, and R. Kelly, “A semiglobally stable output feedback PI2D regulator for robot manipulators,” IEEE Trans. on Automatic Control, vol. 40, no. 8, pp. 1432–1436, 1995.
J. Alvarez-Ramirez, I. Cervantes, and R. Kelly, “PID regulation of robot manipulators: stability and performance,” Systems and Control Letters, vol. 41, pp. 73–83, 2000.
R. Kelly, V. Santibañez, and A. Loria, Control of Robot Manipulators in Joint Space, Springer-Verlag, London, 2005.
J. L. Meza, V. Santibañez, and R. Campa, “An estimate of the domain of attraction for the PID regulator of manipulators,” Int. Journal of Robotics and Automation, vol. 22, no. 3, pp. 187–195, 2007.
R. Kelly and V. Santibañez, “A class of global regulators with bounded control actions for robot manipulators,” Proc. IEEE Conf. Decision and Control, Kobe, Japan, pp. 3382–3387, 1996.
R. Colbaugh, E. Barany, and K. Glass, “Global regulation of uncertain manipulators using bounded controls,” Proc. IEEE Int. Conf. Robotics and Automation, Albuquerque, NM, USA, pp. 1148–1155, April 1997.
R. Colbaugh, E. Barany, and K. Glass, “Global stabilization of uncertain manipulators using bounded controls,” Proc. IEEE American Control Conf., Albuquerque, NM, USA, pp. 86–91, June 1997.
A. Loria, R. Kelly, R. Ortega, and V. Santibañez, “On global output feedback regulation of Euler-Lagrange systems with bounded inputs” IEEE Trans. Automat. Contr., vol. 42, pp. 1138–1143, 1997.
V. Santibañez and R. Kelly, “On global regulation of robot manipulators: saturated linear state feedback and saturated linear output feedback,” European Journal of Control, vol. 3, pp. 104–113, 1997.
V. Santibañez and R. Kelly, “A new set-point controller with bounded torques for robot manipulators,” IEEE Trans. on Industrial Electronics, vol. 45, pp. 126–133, 1998.
E. Zergeroglu, W. Dixon, A. Behal, and D. Dawson, “Adaptive set-point control of robotic manipulators with amplitude-limited control inputs,” Robotica, vol. 18, pp. 171–181, 2000.
A. Zavala-Rio and V. Santibañez, “Simple extensions of the PD-with-gravity-compensation control law for robot manipulators with bounded inputs,” IEEE Trans. on Control Systems Technology, vol. 14, no. 5, pp. 958–965, 2006.
A. Zavala-Rio and V. Santibañez, “A natural saturating extension of the PD-with-desired-gravity compensation control law for robot manipulators with bounded inputs,” IEEE Trans. on Robotics, vol. 23, no. 2, pp. 386–391, 2007.
W. E. Dixon, “Adaptive regulation of amplitude limited for robot manipulators with uncertain kinematics and dynamics,” IEEE Trans. on Automatic Control, vol. 52, no. 3, pp. 488–493, 2007, also at Proc. of American Control Conf., Boston MA, pp. 3839–3844, 2004.
J. Alvarez-Ramirez, R. Kelly, and I. Cervantes, “Semiglobal stability of saturated linear PID control for robot manipulators,” Automatica, vol. 39, pp. 989–995, 2003.
J. Alvarez-Ramirez, V. Santibáñez, and R. Campa, “Stability of robot manipulators under saturated PID compensation,” IEEE Trans. on Control Systems Technology, vol. 16, no. 6, pp. 1333–1341, 2008.
S. Arimoto, “Fundamental problems of robot control: part I, Innovations in the realm of robot servo-loops,” Robotica, vol. 13, pp. 19–27, 1995.
R. Kelly, “Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions,” IEEE Trans. on Automatic Control, vol. 43, no. 7, pp. 934–938, 1998.
V. Santibañez and R. Kelly, “A class of nonlinear PID global regulators for robot manipulators,” Proc. of IEEE Int. Conf. on Robotics and Automation, Leuven, Belgium, pp. 3601–3606, 1998.
J. L. Meza and V. Santibáñez, “Analysis via passivity theory of a class of nonlinear PID global regulators for robot manipulators,” Proc. of the IASTED Int. Conf. on Robotics and Applications, Santa Barbara, CA. USA., pp. 288–293, 1999.
D. Sun, S. Hu, X. Shao, and Ch. Liu, “Global stability of a saturated nonlinear PID controller for robot manipulators,” IEEE Trans. on Control Systems Technology, vol. 17, no. 4, pp. 892–899, 2009.
R. Gorez, “Globally stable PID-like control of mechanical systems” Systems and Control Letters, vol. 38, pp. 61–72, 1999.
J. L. Meza, V. Santibañez, and V. Hernandez, “Saturated nonlinear PID global regulator for robot manipulators: passivity based analysis,” Proc. of the 16th IFAC World Congress, Prague, Czech Republic, (2005).
V. Santibanez, R. Kelly, A. Zavala-Rio, and P. Parada, “A new Saturated nonlinear PID global regulator for robot manipulators,” Proc. of the 17th IFAC World Congress, Seoul, Korea, pp. 11690–11695, 2008.
M. Spong, S Hutchinson, and M. Vidyasagar, Robot Modeling and Control, John Wiley and Sons, 2006.
D. Koditschek, “Natural motion for robot arms,” Proc. IEEE Conf. on Decision and Control, Las Vegas, NV, pp. 733–735, 1984.
R. Ortega and M. Spong, “Adaptive motion control of rigid robots: a tutorial,” Automatica, vol. 25, no. 6, pp. 877–888, 1989.
J. J. Craig, Adaptive Control of Mechanical Manipulators, Addison-Wesley, Reading, MA, 1998.
R. Kelly and J. Moreno, “Learning PID structures in an introductory course of automatic control,” IEEE Trans. on Education, vol. 44, no. 4, pp. 373–376, 2001.
H. Khalil, Nonlinear Systems, Prentice Hall, 2002.
J. Moreno-Valenzuela, V. Santibanez, and R. Campa, “On output feedback tracking control of robot manipulators with bounded torque input,” International Journal of Control Automation and Systems, vol. 6, no. 1, pp. 76–85, 2008.
F. Reyes and R. Kelly, “Experimental evaluation of model-based controllers on a direct-drive robot arm,” Mechatronics, vol. 11, no. 3, pp. 267–282, 2001.