PID controller design for a flexible-link manipulator

Ming-Tzu Ho, Yi W. Tu

研究成果: Conference contribution

26 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
頁面6841-6846
頁數6
2005
DOIs
出版狀態Published - 2005
事件44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
持續時間: 2005 十二月 122005 十二月 15

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
國家Spain
城市Seville
期間05-12-1205-12-15

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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