PID controller design for a flexible-link manipulator

Ming-Tzu Ho, Yi W. Tu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Citations (Scopus)

Abstract

This paper investigates the application of the H proportional-integral-derivative (FID) control synthesis method to tip position control of a flexible-link manipulator. To achieve high performance of PID control, this particular control design problem is cast into the H framework. Based on the recently proposed H FID control synthesis method, a set of admissible controllers is then obtained to be robust against uncertainty introduced by neglecting the higher-order modes of the link and to achieve the desired time-response specifications. The most important feature of the H FID control synthesis method is the ability to provide the knowledge of the entire admissible FID controller gain space which can facilitate controller fine tuning. Finally, experimental results are given to demonstrate the effectiveness of H FID control.

Original languageEnglish
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages6841-6846
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: 2005 Dec 122005 Dec 15

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CountrySpain
CitySeville
Period05-12-1205-12-15

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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    Ho, M-T., & Tu, Y. W. (2005). PID controller design for a flexible-link manipulator. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (Vol. 2005, pp. 6841-6846). [1583262] https://doi.org/10.1109/CDC.2005.1583262