로봇 시스템에 대한 PID 궤적추종 제어기의 자동 성능동조

Other Titles
Automatic Performance Tuning of PID Trajectory Tracking Controller for Robotic Systems
Authors
최영진
Issue Date
2004-06
Publisher
제어·로봇·시스템학회
Citation
제어.로봇.시스템학회 논문지, v.10, no.6, pp.510 - 518
Abstract
: The PID trajectory tracking controller for robotic systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point can not be defined for the control system involving performance limitation, we define newly the quasi-equilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the auto-tuning method for PID controller. Also, the quasi-equilibrium region is used as the target performance of auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method.
Keywords
PID control; performance limitation; auto-tuning law; robotic systems
ISSN
1976-5622
URI
https://pubs.kist.re.kr/handle/201004/137522
Appears in Collections:
KIST Article > 2004
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