| Title: | OS3-6 Design of a Performance-Adaptive 1-Parameter Tuning PID Controller |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 326-329 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS3-6 |
| Author(s): | Yoichiro Ashida, Shin Wakitani, Toru Yamamoto |
| Publication Date: | February 2, 2018 |
| Keywords: | PID control, data-oriented, self-tuning control, performance-driven, 1-parameter tuning |
| Abstract: | Many self-tuning PID controllers have been proposed. However, these methods are rarely employed to actual systems because of low reliability of an on-line PID parameter estimator. In this work, a performance adaptive controller that has two stage of PID parameters tuning mechanisms is proposed. One of the tuners is a one-parameter tuner using the recursive least squares. The other tunes PID parameters using ordinary least squares. The effectiveness of the proposed method is evaluated by an experimental example. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS3/OS3-6.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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