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Improved PID Control Using an Adaptive Two-Input Single-Output Coarse/Fine Approach

[+] Author Affiliations
Eric Wood

Colorado State University, Fort Collins, CO

Carl A. Nelson, Alyssa Koch

University of Nebraska-Lincoln, Lincoln, NE

Paper No. DETC2011-47881, pp. 1149-1158; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


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.

Copyright © 2011 by ASME



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