Stable PID tracking control with application to a 7-DoF exoskeleton robot

Abstract

In this paper, we extend the popular PID regulation control into PID tracking control by using a filtered error and modifying the reference signal. In order to decrease the gains of PID controller, a neural compensator is enclosed. The global and semiglobal asymptotic stability of this PID tracking control with neural compensation are proposed. The proposed PID tracking control is validated with the upper limb exoskeleton of École de Technologie Supérieure (ETS).