This paper presents a comprehensive approach, which allows one to design in a unified way robust smooth proportional-integral-derivative (PID) or proportional-second order derivative (PD2)-type control laws for broad classes of uncertain nonlinear multi-input multi-output (MIMO) systems, including mechatronic and transportation ones, subject to bounded disturbances and noises. The proposed controllers are used to track a reference signal with a bounded third derivative, yielding a tracking error norm less than a prescribed value. The proposed control laws are simple to design and implement and have various engineering applications. Two cases studies are considered: the first one concerns mechatronic processes, and the second one deals with a transportation/assembling robot.
Comprehensive approach to design robust tracking controllers for mechatronic processes / Celentano, Laura; Basin, Michael V.. - (2019), pp. 2311-2317. (Intervento presentato al convegno 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 tenutosi a Bari, Italy nel October 7-9, 2019) [10.1109/SMC.2019.8914349].
Comprehensive approach to design robust tracking controllers for mechatronic processes
Laura Celentano
;
2019
Abstract
This paper presents a comprehensive approach, which allows one to design in a unified way robust smooth proportional-integral-derivative (PID) or proportional-second order derivative (PD2)-type control laws for broad classes of uncertain nonlinear multi-input multi-output (MIMO) systems, including mechatronic and transportation ones, subject to bounded disturbances and noises. The proposed controllers are used to track a reference signal with a bounded third derivative, yielding a tracking error norm less than a prescribed value. The proposed control laws are simple to design and implement and have various engineering applications. Two cases studies are considered: the first one concerns mechatronic processes, and the second one deals with a transportation/assembling robot.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
