Pregled bibliografske jedinice broj: 156666
Performance Optimization of Saturated PID Controller for Robot Manipulators
Performance Optimization of Saturated PID Controller for Robot Manipulators // Proceedings of the 10th IEEE International Conference on Methods and Models in Automation and Robotics
Międzybrodzie Żywieckie, 2004. str. 843-848 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Performance Optimization of Saturated PID Controller for Robot Manipulators
Autori
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the 10th IEEE International Conference on Methods and Models in Automation and Robotics
/ - Międzybrodzie Żywieckie, 2004, 843-848
Skup
10th IEEE International Conference on Methods and Models in Automation and Robotics
Mjesto i datum
Międzyzdroje, Poljska, 30.08.2004. - 02.09.2004
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Robot control; performance optimization; global asymptotic stabilization
(Robot control; performance optimization; global asymptotic stabilization.)
Sažetak
In this paper a new approach to performance tuning of saturated PID controller for robot manipulators is presented. The proposed approach is based on construction of a parameter dependent Lyapunov function. With the appropriate choice of the free parameter, which is not included in stability conditions, a estimation of integral performance index is obtained. The performance index depends on controller parameters and few parameters which characterize the robot dynamics. The optimal values of the controller gains are obtained by minimization of the performance index. An example is given to demonstrate the obtained results.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
