Settling Time Design and Parameter Tuning Methods for Finite-Time P-PI Control

作     者：Keigo Hiruma Hisakazu Nakamura Yasuyuki Satoh 

作者机构：Department of Electrical Engineering Tokyo University of Science Noda 278-8510 Japan Graduate school of Informatics Kyoto University Kyoto 606-8501 Japan 

出 版 物：《Journal of Control Science and Engineering》 (控制科学与工程（英文版）)

年 卷 期：2016年第4卷第1期

页      码：1-10页

摘      要：High precision position control and high speed control of the robot manipulators are fundamental and important control problems. The effectiveness of finite-time P-PI control was confirmed by end-effector position control of robot manipulators. However, parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a settling time design method and a parameter tuning method for the finite-time P-PI control. The effectiveness of the proposed parameter tuning method is confirmed by experiments of end-effcctor position control of a robot manipulator.

主 题 词：Nonlinear control finite-time control P-PI control settling time design robot manipulator. 

学科分类：080701[080701] 08[工学] 0807[工学-电子信息类] 0835[0835] 0802[工学-机械学] 080201[080201] 

馆 藏 号：203159698...