Summary

Proceedings of the 2012 International Symposium on Nonlinear Theory and its Applications

2012

Session Number:A3L-C

Session:

Number:191

Performance Improvement of PID-DAC-Nonlinear-Compensator by Applying Online System Identification

Takanori Emaru,  Hiroto Sasaki,  Yohei Hoshino,  Yukinori Kobayashi,  

pp.191-194

Publication Date:

Online ISSN:2188-5079

DOI:10.15248/proc.1.191

PDF download (471.6KB)

In this paper we propose the performance improvement schemes for nonlinear controlled objects by applying online system identification. Generally, multi-body mechanical systems have high nonlinearity because of the influence of gravity, friction, interaction of joints, and other factors. Therefore, the accuracy of the Proportional-Integral-Derivative (PID) control is limited. In contrast, a digital acceleration control (DAC) method has robustness against modeling errors that are caused by such nonlinearity. A combined control system of PID and DAC (PID-DAC) has been proposed in our previous research and the validity of it has been confirmed. However, the PID-DAC control system cannot compensate for modeling errors of the inertia matrix or mass change of the controlled object. To solve this problem, we apply online system identification algorithm to the PID-DAC. The effectiveness of the proposed method is investigated through experiments on a two-link robot manipulator.

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