摘要
应用Lyapunov直接稳定性理论和LaSalle不变性原理,证明了不确定非线性机械系统常用线性PID控制的半全局渐近稳定性.同时证明了为提高系统的响应速度而发展的一种非线性PI加D(NPI—D)控制系统的全局渐近稳定性.两自由度机器人系统的数值仿真结果验证了NPI—D控制的良好性能.
In this paper, we provide an answer to the longstanding question of designing global asymptotically stable proportional-integral-derivative （PID） regulators for uncertain nonlinear mechanical systems. Our main contribution is to establish the semiglobal asymptotic stability of the controlled system with the commonly used linear PID controller by using Lyapunov direct method and LaSalle invariance principle. Furthermore, an improved nonlinear proportional-integral plus derivative （NPI-D） controller is proposed to speed up the transient and achieve the global asymptotic stability of the closed-loop system. Simulations performed on a two degree-of-freedom （DOF） robot manipulator demonstrate the improved performance of the proposed NPI-D controller.
出处
《自动化学报》
EI
CSCD
北大核心
2008年第12期1544-1548,共5页
Acta Automatica Sinica
基金
国家自然科学基金(50675167)
高等学校全国优秀博士学位论文作者专项资金(200535)
教育部新世纪优秀人才支持计划资助~~
关键词
PID控制
非线性PID控制
半全局渐近稳定
全局渐近稳定
非线性机械系统
PID control, nonlinear PID control, semiglobalasymptotic stability
global asymptotic stability, nonlinear mechanical systems
