Authors
Yoichiro Ashida1, *, Shin Wakitani2, Toru Yamamoto2
1Department of Electrical Engineering and Computer Science, National Institute of Technology Matsue College, 14-4 Nishiikumacho, Matsue city, Shimane, Japan
2Department of System Cybernetics, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashihiroshima city, Hiroshima, Japan
*Corresponding author. Email: [email protected]
Corresponding Author
Yoichiro Ashida
Received 16 October 2017, Accepted 10 December 2017, Available Online 25 June 2019.
DOI
https://doi.org/10.2991/jrnal.k.190531.007How to use a DOI?
Keywords
PID control; data-oriented; self-tuning control; performance-driven; 1-parameter tuning
Abstract
Many self-tuning Proportional–Integral–Derivative (PID) controllers have been proposed. However, these methods are rarely employed to actual systems because of low reliability of an on-line PID parameter estimator. In this work, a performance adaptive controller that has two stages of PID parameters tuning mechanisms is proposed. One of the tuners is a 1-parameter tuner using the recursive least squares. The other tunes PID parameters using ordinary least squares. The effectiveness of the proposed method is evaluated by an experimental example.
Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd..
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).