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This paper deals with the position control of robot manipulators with uncertain and varying-time payload. Proposed is a set of novel N-PID regulators consisting of a linear combination of the proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear function of position errors, linear integral control mode driven by differential feedback, and nonlinear integral control mode driven by a nonlinear function of position errors. By using Lyapunov’s direct method and LaSalle’s invariance principle, the simple explicit conditions on the regulator gains to ensure global asymptotic stability are provided. The theoretical analysis and simulation results show that: an attractive feature of our scheme is that N-PID regulators with asymptotic stable integral actions have the faster convergence, better flexibility and stronger robustness with respect to uncertain and varying-time payload, and then the optimum response can be achieved by a set of control parameters in the whole control domain, even under the case that the payload is changed abruptly

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