Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Automatic Performance Tuning of PID Trajectory Tracking Controller for Robotic Systems

로봇 시스템에 대한 PID 궤적추종 제어기의 자동 성능동조

  • 최영진 (한국과학기술연구원 지능로봇 연구센터)
  • Published : 2004.06.01
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Abstract

The PID trajectory tracking controller for robotic systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point can not be defined for the control system involving performance limitation, we define newly the quasi-equilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the auto-tuning method for PID controller. Also, the quasi-equilibrium region is used as the target performance of auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method.

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References

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