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Adaptive PID Switched Tracking Control of Robot Manipulator

Tracking control problem of robot manipulators with varying loads is studied in this paper. Firstly, switched model of robot manipulators is established when the loads change. Then the switched PID adaptive controller is designed via error transformation and multiple Lyapunov function methods. Finding a series of average dwell time switching signals and controllers can make the system stable and guaranteed the system performance under the switching signal. Lastly, we give a set of simulation examples to demonstrate the effectiveness of the method.