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




Author(s)

Keigo Hiruma1, Hisakazu Nakamura1 and Yasuyuki Satoh2

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DOI:10.17265/2328-2231/2016.01.001

1. Department of Electrical Engineering, Tokyo University of Science, Noda 278-8510, Japan 2. Graduate school of Informatics, Kyoto University, Kyoto 606-8501, Japan

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-effector position control of a robot manipulator.

Nonlinear control, finite-time control, P-PI control, settling time design, robot manipulator