相关实验视频

Updated: Mar 7, 2026

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques
09:01

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques

Published on: April 4, 2017

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基于梯度的自适应PID-SMC控制,通过殖民地优化调整为自动水下车辆的自动水下车辆

Mohammed Yousri Silaa1, Oscar Barambones2, Aissa Bencherif1

  • 1Telecommunications Signals and Systems Laboratory (TSS), Amar Telidji University of Laghouat, BP 37G, Laghouat 03000, Algeria.

ISA transactions
|March 5, 2026
PubMed
概括

基于PID的自适应式滑动模式控制器 (APID-SMC) 增强了自动水下车辆 (AUV) 的轨迹跟踪. 它使用殖民地优化 (ACO) 进行了优化,在具有挑战性的海洋环境中提供了卓越的准确性和稳定性.

关键词:
适应式PID控制器的控制自主水下车辆自动驾驶梯度下降算法 梯度下降算法滑动模式控制器 滑动模式控制器轨迹跟踪跟踪 轨道跟踪

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PID Controller01:19

PID Controller

Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
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PD Controller: Design01:26

PD Controller: Design

In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
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PI Controller: Design01:24

PI Controller: Design

Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
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Time-Domain Interpretation of PD Control

Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
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Root-Locus Method01:19

Root-Locus Method

A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
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Feedback control systems01:26

Feedback control systems

Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
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