Nonlinear PID Control with Partial State Knowledge: Damping without Derivatives

Author:

Armstrong Brian1,Wade Bruce A.2

Affiliation:

1. Department of Electrical Engineering and Computer Science, and Center for Industrial Mathematics, UW-Milwaukee P.O. Box 784, Milwaukee, Wisconsin 53201, USA

2. Department of Mathematical Sciences and Center for Industrial Mathematics, UW-Milwaukee P.O. Box 413, Milwaukee, Wisconsin 53201, USA

Abstract

Nonlinear PID (NPID) control is implemented by allowing the controller gains to vary as a function of system state. NPID control has been previously described and implemented, and recently a constructive Lyapunov stability proof has been given. The controllers arising with the constructive Lyapunov method will in general depend on knowledge of the full state vector. In the present work, NPID controllers that operate without knowledge of some state variables are demonstrated. A general but conservative design method is presented with an experimental demonstration. For a special case, complete necessary and sufficient conditions are established; for this case, simulation of a robotic force control application demonstrates well-damped control with no requirement for a force-rate signal. The extension to cases of partial state knowledge is important for NPID control, which is most practical when some state variables—particularly rate variables—are poorly known, confounding full-state feedback or other high-damping linear control designs. Extension of NPID control to MIMO systems and computed torque control is also shown.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

Cited by 16 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3