Journal Article10.1109/TIE.2014.2321353
Variable PID Gain Tuning Method Using Backstepping Control With Time-Delay Estimation and Nonlinear Damping
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TL;DR: The equivalence relationship between a discrete PID control and a discrete backstepping control with time-delay estimation and nonlinear damping is clarified, and the variable gains of the PID controller are automatically tuned with a non linear damping component.
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Abstract: Proportional-integral-derivative (PID) controllers with constant gains seldom meet desired performance when system dynamics rapidly changes due to unknown disturbances. A gain tuning method for variable PID controllers is presented in this paper. First, the equivalence relationship between a discrete PID control and a discrete backstepping control with time-delay estimation and nonlinear damping is clarified, and the variable gains of the PID controller are automatically tuned with a nonlinear damping component. The nonlinear damping terms directly affect system performance and make PID gains vary. The system performance of a variable PID controller with the proposed method is compared with that of a constant PID controller. The experimental results show that the proposed method is adaptive, robust, and effective.
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Citations
A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators
TL;DR: A new adaptive sliding-mode control scheme that uses the time-delay estimation (TDE) technique, then applies the scheme to robot manipulators and shows that the tracking errors of the proposed ASMC scheme are guaranteed to be uniformly ultimately bounded (UUB) with arbitrarily small bound.
495
Observer and Command-Filter-Based Adaptive Fuzzy Output Feedback Control of Uncertain Nonlinear Systems
TL;DR: The proposed control method can overcome two problems of linear in the unknown system parameter and explosion of complexity in backstepping-design methods and it does not require that all of the states of the system are measured directly.
Adaptive Integral Sliding Mode Control With Time-Delay Estimation for Robot Manipulators
TL;DR: The proposed controller employs TDE to estimate robot dynamics with uncertainties such as parameter variations and disturbances, an integral sliding surface to eliminate the reaching phase together with the noise-sensitive switching action in the conventional sliding mode control, and adaptation gain dynamics to achieve the applicable high accuracy.
272
Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control
TL;DR: In this article, an inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented, which consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a "mass" or "nonlinear damper" injection term; and 3) a TDE error correction term based on a nonlinear sliding surface).
169
Adaptive-Robust Time-Delay Control for a Class of Uncertain Euler–Lagrange Systems
TL;DR: The proposed adaptive-robust time-delay control (ARTDC) amalgamates the ARC strategy with the time- delay control (TDC) and allows the switching gain to increase or decrease whenever the error trajectories move away or close to the switching surface.
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References
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Karl Johan Åström,Tore Hägglund +1 more
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J. G. Ziegler
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TL;DR: In this paper, the three principal control effects found in present controllers are examined and practical names and units of measurement are proposed for each effect.
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PID control
TL;DR: This study presents a basic configuration of a Single-Input Single-Output (SISO) control system, introducing notation for signals and components, including the PID controller, process, and disturbances, to establish a foundation for control system analysis and design.
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An optimal fuzzy PID controller
TL;DR: The constant PID control gains are optimized by using the multiobjective genetic algorithm (MOGA) thereby yielding an optimal fuzzy PID controller, which preserves the same linear structure of the proportional, integral, and derivative parts but has constant coefficient yet self-tuned control gains.
487