Improved PID control using an adaptive two-input single-output coarse/fine approach

Eric Wood, Carl A. Nelson, Alyssa Koch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In robotic manufacturing, the qualities of responsiveness (speed) and accuracy are both desirable, but these two goals tend to oppose each other. A theoretical model of an adaptive PID controller for robotic and other actuated mechanical systems is presented here in pursuit of these combined objectives. Emphasis is placed on rotational velocity control using multiple inputs to produce a single desired output. Shared control of the system between two motors is proposed such that dominance of each motor controller shifts smoothly as a function of error signal based on the kinematic combination of the motor inputs (continuously sliding modes). Performance and stability analyses are provided to illustrate the behavior of the system based on operating parameters.

Original languageEnglish (US)
Title of host publicationASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Pages1149-1158
Number of pages10
EditionPARTS A AND B
DOIs
StatePublished - Dec 1 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
Duration: Aug 28 2011Aug 31 2011

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume6

Conference

ConferenceASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
CountryUnited States
CityWashington, DC
Period8/28/118/31/11

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Wood, E., Nelson, C. A., & Koch, A. (2011). Improved PID control using an adaptive two-input single-output coarse/fine approach. In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 (PARTS A AND B ed., pp. 1149-1158). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 6, No. PARTS A AND B). https://doi.org/10.1115/DETC2011-47881