On the Optimality and Performance of PID Controller for Robotic Manipulators
نویسندگان
چکیده
Abstract-This paper suggests an inverse optimal PID control design method for mechanical manipulators. We find the Lyapunov function and the control law satisfying the disturbance input-to-state stability by using the characteristics of Lagrange system. Also, we show that the inverse optimal PID controller satisfies the HamiltonJacobi-Isaacs equation. Hence, the inverse optimality of the closed-loop system dynamics has been acquired through the PID controller, if some conditions for the control law are satisfied. Also, simple coarse/fine performance tuning laws are suggested based on the analysis for performance limitation of the inverse optimal PID controller.
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