Two degrees of freedom PID auto-tuning controller based on frequency region methods

Shigemasa, Takashi; Iino, Yutaka; Kanda, Masae

doi:10.1007/bfb0042944

Cited by 11 publications

(9 citation statements)

References 5 publications

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“…Basic independent joint servos for two-link robot arm. Each two-degree-of-freedom PI (FF-I-P : Feedforward-Integral-Proportional type [19] [20]) velocity control loop is connected with outer P (proportional) position control loop.…”

Section: Target Systemmentioning

confidence: 99%

“…First, the 1st-joint bandwidth and robustness of the TVFB scheme were examined using the stability margins of loop frequency transfer functions [19] [20]. Fig.…”

Section: B Showing Nonlinear-model-based Phase-lead Compensatormentioning

confidence: 99%

“…2 shows the basic independent joint servos for the two-link robot arm. Each two-degree-of-freedom PI (FF-I-P : Feedforward-Integral-Proportional type [19][20]) velocity control loop connected with an outer P (proportional) position control loop, shown in Fig. 2, is given by Table 1 summarizes the estimated physical parameters for the 5 kg payload [7] and the joint-servo parameters.…”

Section: Target Systemmentioning

confidence: 99%

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Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Oaki

Adachi

2015

2015 IEEE Conference on Control Applications (CCA)

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This paper provides a practical solution for precise and fast control of an elastic-joint robot arm using motor-side sensors only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for vibration-suppression control. The scheme utilizes an uncomplicated nonlinear observer based on a physically-parameterized dynamic model of the elastic-joint robot arm. The TVFB can be easily plugged into existing joint servos like PI velocity controllers. Using the elastic-joint robot arm, this paper experimentally demonstrates that the TVFB is equivalent to a nonlinear-model-based phase-lead compensator. Furthermore, several experiments are conducted to validate that the TVFB scheme has the capability to satisfy both vibrationsuppression and fast-positioning control.

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Section: Target Systemmentioning

confidence: 99%

“…First, the 1st-joint bandwidth and robustness of the TVFB scheme were examined using the stability margins of loop frequency transfer functions [19] [20]. Fig.…”

Section: B Showing Nonlinear-model-based Phase-lead Compensatormentioning

confidence: 99%

Section: Target Systemmentioning

confidence: 99%

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Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Oaki

Adachi

2015

2015 IEEE Conference on Control Applications (CCA)

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“…We used the I-PD control design method described in [7]; that is, the I-PD gains were determined such that the gain margin and the phase margin fit a specified model offering desirable characteristics.…”

Section: I-pd Controller Design [4]mentioning

confidence: 99%

On-orbit attitude control experiments for ETS-VI. I-PD and two-degree-of-freedom ℋ/sub ∞/ control

Chida

Yamaguchi²,

Soga³

et al.

Proceedings of 35th IEEE Conference on Decision and Control

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Engineering Test Satellite VI (ETS-VI) is a three-axis-sta zed satellite launched by National Space Development Agency of Japan in 1994. Identification and attitude control experiments on orbit were planned as one of the ETS-VI experimental programs and were carried out in 1995. These experiments were the first tests fulfilled by Japan for a real on-orbit satellite. In this paper, we present certain results of the attitude control experiments using I-PD control and twodegree-of-freedom control based on 7-1, control. Experimental results showed that these controllers provide the expected control performance and that these design methods are effective for satellite control.

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“…The force control parameters (i.e. PID feedback parameters) are calculated by a stable design method called partial-model-matching (PMM) using the identified frequency response [8].…”

Section: Introductionmentioning

confidence: 99%

Stable force controller design based on frequency response identification

Oaki

Proceedings IROS '91:ieee/RSJ International Workshop on Intelligent Robots and Systems '91

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This paper proposes a method of stable force controller design for robotic manipulators based on frequency response identification. The force controller described here falls into the hybrid controller category. Force control loops are added to a popular position controller, enabling position control loops and force control loops to be designed independently. The proposed method does not require a detailed model of manipulator and environment dynamics. It is, therefore, robust enough for unmodeled dynamics, and easily analyzes stability in the high frequency region using the phase and gain margin method. The frequency response is identified by an accurate method called multi-decimation (MD), using motor input and contact-force output data. The MD method was previously developed by the author. The force control parameters (i.e. PID feedback parameters) are calculated by a stable design method called partial-modelmatching (PMM), using the identified frequency response. The effectiveness of the proposed design method is demonstrated, through some experimental results, including a tracing task along a stiff environment, carried out using a planar two-link manipulator with harmonic drive gears.

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Two degrees of freedom PID auto-tuning controller based on frequency region methods

Cited by 11 publications

References 5 publications

Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator

On-orbit attitude control experiments for ETS-VI. I-PD and two-degree-of-freedom ℋ/sub ∞/ control

Stable force controller design based on frequency response identification

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