Performance Optimization of Saturated PID Controller for Robot Manipulators (CROSBI ID 498483)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Performance Optimization of Saturated PID Controller for Robot Manipulators
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.
Robot control; performance optimization; global asymptotic stabilization.
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Podaci o prilogu
843-848-x.
2004.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 10th IEEE International Conference on Methods and Models in Automation and Robotics
Międzybrodzie Żywieckie:
Podaci o skupu
10th IEEE International Conference on Methods and Models in Automation and Robotics
predavanje
30.08.2004-02.09.2004
Międzyzdroje, Poljska