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

AU - Tadele, T.S.

AU - de Vries, Theodorus J.A.

AU - Stramigioli, Stefano

PY - 2013/6/19

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.

KW - EWI-23815

KW - CE-Advanced Robotics

KW - Performance

KW - impedance control

KW - METIS-300072

KW - damping injection

KW - PID

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