Settling Time Design for Finite-time P-PI Control and Parameter tuning method

被引：0
|
作者：
Hiruma, Keigo [1 ]
Nakamura, Hisakazu [1 ]
Satoh, Yasuyuki [1 ]
机构：
[1] Tokyo Univ Sci, Dept Elect Engn, Tokyo 162, Japan
来源：
2015 10TH ASIAN CONTROL CONFERENCE (ASCC) | 2015年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
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, a parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a parameter tuning method for a finite-P-PI controller. Moreover we show the effectiveness of the proposed parameter tuning method via application to robot manipulator control.
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页数：6
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