DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, YJ | - |
dc.contributor.author | Chung, WK | - |
dc.contributor.author | Suh, IH | - |
dc.date.accessioned | 2016-03-31T13:10:19Z | - |
dc.date.available | 2016-03-31T13:10:19Z | - |
dc.date.created | 2009-03-16 | - |
dc.date.issued | 2001-12 | - |
dc.identifier.issn | 1042-296X | - |
dc.identifier.other | 2002-OAK-0000002435 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/19229 | - |
dc.description.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. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGI | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
dc.subject | H-infinity optimality | - |
dc.subject | ISS | - |
dc.subject | performance | - |
dc.subject | PID | - |
dc.subject | tuning rule | - |
dc.subject | TO-STATE STABILITY | - |
dc.subject | ROBOT MANIPULATORS | - |
dc.subject | NONLINEAR-SYSTEMS | - |
dc.subject | STABILIZATION | - |
dc.subject | FEEDBACK | - |
dc.title | Performance and H-infinity optimality of PID trajectory tracking controller for Lagrangian systems | - |
dc.type | Article | - |
dc.contributor.college | 기계공학과 | - |
dc.author.google | Choi, YJ | - |
dc.author.google | Chung, WK | - |
dc.author.google | Suh, IH | - |
dc.relation.volume | 17 | - |
dc.relation.issue | 6 | - |
dc.relation.startpage | 857 | - |
dc.relation.lastpage | 869 | - |
dc.contributor.id | 10077435 | - |
dc.relation.journal | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCIE | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.17, no.6, pp.857 - 869 | - |
dc.identifier.wosid | 000173337600008 | - |
dc.date.tcdate | 2019-01-01 | - |
dc.citation.endPage | 869 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 857 | - |
dc.citation.title | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
dc.citation.volume | 17 | - |
dc.contributor.affiliatedAuthor | Chung, WK | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 34 | - |
dc.type.docType | Article | - |
dc.subject.keywordPlus | TO-STATE STABILITY | - |
dc.subject.keywordPlus | STABILIZATION | - |
dc.subject.keywordPlus | FEEDBACK | - |
dc.subject.keywordAuthor | H-infinity optimality | - |
dc.subject.keywordAuthor | ISS | - |
dc.subject.keywordAuthor | performance | - |
dc.subject.keywordAuthor | PID | - |
dc.subject.keywordAuthor | tuning rule | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Robotics | - |
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