A Systematic Method for Gain Selection of Robust PID Control for Nonlinear Plants of Second-Order Controller Canonical Form

Cited 34 time in webofscience Cited 0 time in scopus
  • Hit : 310
  • Download : 865
A systematic method to select gains of a discrete proportional-integral-derivative (PID) controller is presented. The PID controller with the gains obtained by the proposed method can robustly control nonlinear multiple-input-multiple-output (MIMO) plants in a second-order controller canonical form, such as robot dynamics. This method has been made possible by the finding that the discrete PID control is equivalent to the discrete form of time-delay control (TDC), a robust control method for nonlinear plants with uncertainty. By using this equivalence, relationships are obtained between PID gains and parameters of TDC, which enable a systematic method for the select PID gains. In addition, based on the systematic method, a simple and effective method is proposed to tune PID gains applicable to nonlinear plants with inaccurate models. This method incorporates a set of independent tuning parameters that is far less than those for conventional methods for PID gain selection. The usefulness of the proposed methods is verified through the ease and simplicity of determining PID gains for six degrees-of-freedom (DOF) programmable universal machine for assembly (PUMA)-type robot manipulator; the effectiveness of these PID gains is confirmed by the adequate and robust performance through experimentation on the robot.
Publisher
IEEE-Inst Electrical Electronics Engineers Inc
Issue Date
2009
Language
English
Article Type
Article
Keywords

TIME-DELAY CONTROL; FUZZY P+ID CONTROLLER; ROBOT MANIPULATORS; TRACKING CONTROL; DESIGN

Citation

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, v.17, no.2, pp.473 - 483

ISSN
1063-6536
DOI
10.1109/TCST.2008.2000989
URI
http://hdl.handle.net/10203/12413
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
000263832000020.pdf(1.05 MB)Download
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 34 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0