A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is
High-gain PID position control, which is widely used with robots having complex dynamics, involves some risks in cases of abnormal events, such as unexpected environment contacts, temporal power failures, and wrong position commands from a higher-level controller. We previously proposed a proxy-based sliding mode control (PSMC) scheme, which is an extension of PID control that ensures slow, moderate, overdamped recovery from a large positional error at abnormal events without sacrificingdoi:10.1109/iros.2006.282243 dblp:conf/iros/KikuuweYF06 fatcat:fa7nh2lhjnd5dane3yb7stxdvu