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Abstract In this study, a novel nonlinear PID controller is developed for a class of second-order nonlinear systems subject to uncertainties and external disturbances. The proposed control architecture preserves the intuitive structure of the conventional PID framework while enhancing it through a systematically designed nonlinear adaptation mechanism.
Conflicts of Interest The authors declare no conflicts of interest. References 1, , , and , “In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques,” IEEE Access 12 (2024): 47672–47701.
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BDC brushed direct current BLDC brushless direct current DC direct current dof degree of freedom FSFB full state feedback OFB output feedback PSFB partial state feedback 1 INTRODUCTION The increasing demand for accuracy and reliability in diverse application domains of robot manipulators has spurred extensive research into refining their control methods with the goal of improving performance and dependability.
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