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

作　　者：Keigo Hiruma Hisakazu Nakamura Yasuyuki Satoh 

机构地区：[1]Department of Electrical Engineering, Tokyo University of Science, Noda 278-8510, Japan [2]Graduate school of Informatics, Kyoto University, Kyoto 606-8501, Japan

出　　处：《Journal of Control Science and Engineering》2016年第1期1-10,共10页控制科学与工程（英文版）

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.

关 键 词：Nonlinear control finite-time control P-PI control settling time design robot manipulator. 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TK123[自动化与计算机技术—控制科学与工程]