PID motion control tuning rules in a damping injection framework

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)

    Abstract

    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 languageUndefined
    Title of host publication2013 American Control Conference (ACC)
    Place of PublicationLos Alamitos, CA, USA
    PublisherIEEE
    Pages4957-4962
    Number of pages6
    ISBN (Print)978-1-4799-0177-7
    Publication statusPublished - 19 Jun 2013
    Event2013 American Control Conference, ACC 2013 - Washington, United States
    Duration: 17 Jun 201319 Jun 2013

    Publication series

    Name
    PublisherIEEE
    ISSN (Print)0743-1619

    Conference

    Conference2013 American Control Conference, ACC 2013
    Abbreviated titleACC
    CountryUnited States
    CityWashington
    Period17/06/1319/06/13

    Keywords

    • EWI-23815
    • CE-Advanced Robotics
    • Performance
    • impedance control
    • METIS-300072
    • damping injection
    • PID
    • IR-87493
    • tuning

    Cite this

    Tadele, T. S., de Vries, T. J. A., & Stramigioli, S. (2013). PID motion control tuning rules in a damping injection framework. In 2013 American Control Conference (ACC) (pp. 4957-4962). Los Alamitos, CA, USA: IEEE.
    Tadele, T.S. ; de Vries, Theodorus J.A. ; Stramigioli, Stefano. / PID motion control tuning rules in a damping injection framework. 2013 American Control Conference (ACC). Los Alamitos, CA, USA : IEEE, 2013. pp. 4957-4962
    @inproceedings{5d76c92fb090447da52a4b387e2ac5e1,
    title = "PID motion control tuning rules in a damping injection framework",
    abstract = "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.",
    keywords = "EWI-23815, CE-Advanced Robotics, Performance, impedance control, METIS-300072, damping injection, PID, IR-87493, tuning",
    author = "T.S. Tadele and {de Vries}, {Theodorus J.A.} and Stefano Stramigioli",
    year = "2013",
    month = "6",
    day = "19",
    language = "Undefined",
    isbn = "978-1-4799-0177-7",
    publisher = "IEEE",
    pages = "4957--4962",
    booktitle = "2013 American Control Conference (ACC)",
    address = "United States",

    }

    Tadele, TS, de Vries, TJA & Stramigioli, S 2013, PID motion control tuning rules in a damping injection framework. in 2013 American Control Conference (ACC). IEEE, Los Alamitos, CA, USA, pp. 4957-4962, 2013 American Control Conference, ACC 2013, Washington, United States, 17/06/13.

    PID motion control tuning rules in a damping injection framework. / Tadele, T.S.; de Vries, Theodorus J.A.; Stramigioli, Stefano.

    2013 American Control Conference (ACC). Los Alamitos, CA, USA : IEEE, 2013. p. 4957-4962.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    TY - GEN

    T1 - PID motion control tuning rules in a damping injection framework

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    AU - de Vries, Theodorus J.A.

    AU - Stramigioli, Stefano

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    Y1 - 2013/6/19

    N2 - 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.

    AB - 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.

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    KW - CE-Advanced Robotics

    KW - Performance

    KW - impedance control

    KW - METIS-300072

    KW - damping injection

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    KW - IR-87493

    KW - tuning

    M3 - Conference contribution

    SN - 978-1-4799-0177-7

    SP - 4957

    EP - 4962

    BT - 2013 American Control Conference (ACC)

    PB - IEEE

    CY - Los Alamitos, CA, USA

    ER -

    Tadele TS, de Vries TJA, Stramigioli S. PID motion control tuning rules in a damping injection framework. In 2013 American Control Conference (ACC). Los Alamitos, CA, USA: IEEE. 2013. p. 4957-4962