Performance and H-infinity optimality of PID trajectory tracking controller for Lagrangian systems
SCIE
SCOPUS
- Title
- Performance and H-infinity optimality of PID trajectory tracking controller for Lagrangian systems
- Authors
- Choi, YJ; Chung, WK; Suh, IH
- Date Issued
- 2001-12
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGI
- Abstract
- This paper suggests an inverse optimal proportional-integral-derivative (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 PID control form and satisfies the Hamilton-Jacobi-Isaacs equation. Hence, the H-infinity 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-infinity optimality.
- Keywords
- H-infinity optimality; ISS; performance; PID; tuning rule; TO-STATE STABILITY; ROBOT MANIPULATORS; NONLINEAR-SYSTEMS; STABILIZATION; FEEDBACK
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/19229
- ISSN
- 1042-296X
- Article Type
- Article
- Citation
- IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, vol. 17, no. 6, page. 857 - 869, 2001-12
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