DocumentCode :
1558756
Title :
Performance and H optimality of PID trajectory tracking controller for Lagrangian systems
Author :
Choi, Youngjin ; Kyun Chung, Wan ; Hong Suh, Il
Author_Institution :
Robotics & Bio-Mechatronics Lab., Pohang Univ. of Sci. & Technol., South Korea
Volume :
17
Issue :
6
fYear :
2001
fDate :
12/1/2001 12:00:00 AM
Firstpage :
857
Lastpage :
869
Abstract :
This paper suggests an inverse optimal PID control design method to track trajectories in Lagrangian systems. The inverse optimal PID controller exists if and only if the Lagrangian system is extended disturbance input-to-state stable. First, we find the Lyapunov function and the control law that satisfy the extended disturbance input-to-state stability by using the characteristics of the Lagrangian system. The control law has a MID control form and satisfies the Hamilton-Jacobi-Isaacs equation. Hence, the H inverse optimality of the closed-loop system dynamics is acquired through the PID controller if the conditions for the control law are satisfied. Also, simple coarse/fine performance tuning laws are suggested based on a performance limitation analysis of the inverse optimal PID controller. Selection conditions for gains are proposed as functions of the tuning variable. Experimental results for a typical Lagrangian system show that our analysis provides performance and H optimality
Keywords :
H control; Lyapunov methods; closed loop systems; nonlinear systems; performance index; stability; state-space methods; three-term control; tracking; H control; Hamilton-Jacobi-Isaacs equation; Lagrangian systems; Lyapunov function; PID controller; closed-loop system; optimal control; performance index; stability; state-space; trajectory tracking; tuning rule; Control design; Control systems; Equations; Lagrangian functions; Lyapunov method; Optimal control; Performance analysis; Stability; Three-term control; Trajectory;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.976011
Filename :
976011
Link To Document :
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