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Global PID Control of Robot Manipulators Equipped with PMSMs

This paper is concerned with PID position regulation of robot manipulators actuated by permanent magnet synchronous motors (PMSMs). We present a global asymptotic stability proof when the electric dynamics of these actuators is taken into account. Our controller is so simple that it differs from standard field oriented control (SFOC) of PMSMs in only three simple nonlinear terms that have to be added and a nonlinear PID controller which is used instead of a classical PID controller. Thus, our proposal represents the closest result to SFOC of PMSMs provided with a formal global asymptotic stability proof. We present an advancement, if modest, towards presenting a global stability proof for SFOC when used in robotics.