Variable PID Gain Tuning Method Using Backstepping Control With Time-Delay Estimation and Nonlinear Damping

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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.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2014-12
Language
English
Article Type
Article
Keywords

ROBOT MANIPULATORS; UNCERTAIN SYSTEMS; TRACKING CONTROL; ROBUST-CONTROL; DESIGN

Citation

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.61, no.12, pp.6975 - 6985

ISSN
0278-0046
DOI
10.1109/TIE.2014.2321353
URI
http://hdl.handle.net/10203/192745
Appears in Collection
ME-Journal Papers(저널논문)
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