Settling Time Design and Parameter Tuning Methods for Finite-Time P-PI Control

作     者：Keigo Hiruma Hisakazu Nakamura Yasuyuki Satoh 

作者机构：Department of Electrical Engineering Tokyo University of Science Noda 278-8510 Japan Graduate school of Informatics Kyoto University Kyoto 606-8501 Japan 

出 版 物：《Journal of Control Science and Engineering》 (控制科学与工程（英文版）)

年 卷 期：2016年第4卷第1期

页      面：1-10页

学科分类：080701[工学-工程热物理] 08[工学] 0807[工学-动力工程及工程热物理] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

主　　题：Nonlinear control finite-time control P-PI control settling time design robot manipulator. 

摘      要：High precision position control and high speed control of the robot manipulators are fundamental and important control problems. The effectiveness of finite-time P-PI control was confirmed by end-effector position control of robot manipulators. However, parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a settling time design method and a parameter tuning method for the finite-time P-PI control. The effectiveness of the proposed parameter tuning method is confirmed by experiments of end-effcctor position control of a robot manipulator.