Nonlinear PID control with partial state knowledge: Damping without derivatives

Citation
B. Armstrong et Ba. Wade, Nonlinear PID control with partial state knowledge: Damping without derivatives, INT J ROB R, 19(8), 2000, pp. 715-731
Citations number
22
Language
INGLESE
art.tipo
Article
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
ISSN journal
0278-3649 → ACNP
Volume
19
Issue
8
Year of publication
2000
Pages
715 - 731
Database
ISI
SICI code
0278-3649(200008)19:8<715:NPCWPS>2.0.ZU;2-N
Abstract
Nonlinear PID (NPID) control is implemented by allowing the controller gain s to vary as a function of system state. NPID control has been previously d escribed and implemented, and recently a constructive Lyapunov stability pr oof has been given. The controllers arising with the constructive Lyapunov method will in general depend on knowledge of the full state vector. In the present work, NPID controllers that operate without knowledge of some stat e variables are demonstrated A general but conservative design method is pr esented with an experimental demonstration. Fora special case, complete nec essary and sufficient conditions are established;for this case, simulation of a robotic force control application demonstrates well-damped control wit h no requirement for a force-rare signal. The extension to cases of partial stare knowledge is important for NPID control, which is most practical whe n some stare variables-particularly rare variables-are poorly known, confou nding full-state feedback or other high-damping linear control designs. Ext ension of NPID control to MIMO systems and computed torque control is also shown.