A Proportional-Integral-Derivative type regulation scheme with non-Lipschitz control actions for mechanical systems
Arturo Zavala-Río1, Mariana Barrera-Velázquez1, Tonametl Sanchez1
1Control and Dynamical Systems Division, San Luis Potosi Institute of Scientific and Technological Research, Camino a la Presa San José 2055, Lomas 4a. Sección, San Luis Potosi, 78216, SLP, Mexico.
ISA Transactions
|September 1, 2024
Summary
This study introduces a novel proportional-integral-derivative (PID) control for mechanical systems, enhancing finite-time continuous control. The new method reduces overshoot and control effort for improved system performance.
Area of Science:
- Control Systems Engineering
- Mechanical Systems Dynamics
- Nonlinear Control Theory
Background:
- Finite-time continuous control offers performance benefits.
- Existing methods may not fully address constrained-input mechanical systems.
- PID controllers are widely used but can be improved for specific applications.
Purpose of the Study:
- To design a PID control scheme for global regulation of constrained-input mechanical systems.
- Incorporate finite-time continuous control features into a PID structure.
- Analyze the stability and performance of the proposed control scheme.
Main Methods:
- Developed a generalized PID control structure with exponential weights on P and D terms.
- Introduced a novel analytical framework to support the design.
- Conducted closed-loop stability analysis.
- Performed experimental validation on mechanical systems.
Main Results:
- The proposed PID controller with exponential weights achieves finite-time convergence properties.
- Demonstrated reduction in position error overshoot.
- Showcased a decrease in control effort.
- Experimental results confirmed the analytical predictions.
Conclusions:
- The novel PID control scheme effectively regulates constrained-input mechanical systems.
- Exponential weighting in PID controllers enhances performance, characteristic of finite-time control.
- The approach offers a practical method for improving system regulation and reducing control effort.
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