New results in NPID control: Tracking, integral control, friction compensation and experimental results

Citation
B. Armstrong et al., New results in NPID control: Tracking, integral control, friction compensation and experimental results, IEEE CON SY, 9(2), 2001, pp. 399-406
Citations number
23
Language
INGLESE
art.tipo
Article
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
ISSN journal
1063-6536 → ACNP
Volume
9
Issue
2
Year of publication
2001
Pages
399 - 406
Database
ISI
SICI code
1063-6536(200103)9:2<399:NRINCT>2.0.ZU;2-L
Abstract
Nonlinear proportional-integral-derivative (NPID) control is implemented by varying the controller gains as a function of system state. NPID control h as been previously described and implemented, and recently a constructive L yapunov stability proof has been given. Here, NPID control analysis and des ign methods are extended to tracking, and to systems with state feedback an d integral control, Experimental results are presented showing improved tra cking accuracy and friction compensation by NPID control.