Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

CiteULike is a free service for managing and discovering scholarly references - click here to get started.

Sign In to gain access to subscriptions and/or personal tools.
Journal of Vibration and Control
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Web of Science (1)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Cheong, J.
Right arrow Articles by Lee, S.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Linear PID Composite Controller and its Tuning for Flexible Link Robots

Joono Cheong

Department of Control and Instrumentation Engineering, Korea University, Jochiwon, 339-700 South Korea (jncheong{at}korea.ac.kr)

Seungjin Lee

Department of Control and Instrumentation Engineering, Korea University, Jochiwon, 339-700 South Korea (jncheong{at}korea.ac.kr)

This article presents both a proposal for a linear PID composite controller, composed of slow and fast sub-controllers, for flexible link robot systems modeled using the singular perturbation approach, and an efficient tuning method for the proposed controller structure. For the slow sub-controller, a PD controller with disturbance observer is used, which eventually takes on PID form. For the fast sub-controller, modal feedback PID control is utilized. The integral action in the controller removes steady state error in the joint caused by step disturbance and imperfect gravity compensation, although it also complicates the analysis. Effects of tuning the parameters of the controller to the closed loop response are investigated, and guidelines on the performance tuning for many flexible systems thus delivered. Through simulation and experiments, the adequacy and performance of the proposed method are verified.

Key Words: Flexible link robot • composite controller • PID control • performance tuning

Journal of Vibration and Control, Vol. 14, No. 3, 291-318 (2008)
DOI: 10.1177/1077546307073130
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?