Related papers: Analysis of Infinite Stiffness Using PID Controlle…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
This paper presents a novel method for enhancing the adaptability of Proportional-Integral-Derivative (PID) controllers in industrial systems using event-based dynamic game theory, which enables the PID controllers to self-learn, optimize,…
In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both…
This paper deals with the exponential stability of a drilling pipe controlled by a PI controller. The model used leads to a coupled ODE / PDE and is consequently of infinite dimension. Using recent advances in time-delay systems, we derive…
The PID controller remains the most widely adopted control architecture, with groundbreaking success across extensive implications. However, optimal parameter tuning for PID controller remains a critical challenge. Existing theories…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
This paper presents a multi-objective digital PID controller design method using the parameter space approach of robust control. Absolute stability is treated first by finding the digital PID controller gain parameter space corresponding to…
Proportional-Integral-Derivative (PID) scheme is the most commonly used algorithm for designing the controllers for unmanned aerial vehicles (UAVs). However, tuning PID gains is a non trivial task. A number of methods have been developed…
In chemical process applications, model predictive control effectively deals with input and state constraints during transient operations. However, industrial PID controllers directly manipulates the actuators, so they play the key role in…
In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
The proportional-integral-derivative (PID) controller and its variants are widely used in control engineering, but they often rely on linearization around equilibrium points and empirical parameter tuning, making them ineffective for…
Proportional-integral-derivative (PID) control underlies more than $97\%$ of automated industrial processes. Controlling these processes effectively with respect to some specified set of performance goals requires finding an optimal set of…
These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…
This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…
This paper presents a novel anti-windup proportional-integral controller for stable multi-input multi-output nonlinear plants. We use tools from projected dynamical systems theory to force the integrator state to remain in a desired…
Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating…
Proportional-integral-derivative (PID) controller is widely used across various industrial process control applications because of its straightforward implementation. However, it can be challenging to fine-tune the PID parameters in…