PID motion control tuning rules in a damping injection framework

Tadele Shiferaw Tadele, Theo de Vries, Stefano Stramigioli

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    3 Citations (Scopus)
    15 Downloads (Pure)


    This paper presents a general design approach for a performance based tuning of a damping injection framework impedance controller by using insights from PID motion control tuning rules. The damping injection framework impedance controller is suitable for human friendly robots as it enhances safety due to the compliance it introduces and guarantees asymptotic stability because of its passive nature. In order to perform successful manipulation with a damping injection framework controlled robot, a performance based analysis and tuning of the controller is essential. By mapping a performance based frequency domain tuning of PID controllers on the framework, the proposed tuning method attempts to analyze and define controller parameters that yield a desired performance requirement given in terms of the maximum allowed position error. The effectiveness of the proposed guideline is illustrated with simulation and experimental results.
    Original languageEnglish
    Title of host publication2013 American Control Conference (ACC)
    Place of PublicationLos Alamitos, CA, USA
    Number of pages6
    ISBN (Electronic)978-1-4799-0178-4
    ISBN (Print)978-1-4799-0177-7, 978-1-4799-0175-3
    Publication statusPublished - 19 Jun 2013
    Event2013 American Control Conference, ACC 2013 - Washington, United States
    Duration: 17 Jun 201319 Jun 2013

    Publication series

    NameProceedings American Control Conference
    ISSN (Print)0743-1619
    ISSN (Electronic)2378-5861


    Conference2013 American Control Conference, ACC 2013
    Abbreviated titleACC
    Country/TerritoryUnited States


    • CE-Advanced Robotics
    • Performance
    • Impedance control
    • Damping injection
    • PID
    • Tuning


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