PID Based on Attractive Ellipsoid Method for Dynamic Uncertain and External Disturbances Rejection in Mechanical Systems
Joint Authors
Ordaz Oliver, Jesus Patricio
Espinoza Quesada, Eduardo Steed
Garcia Barrientos, Abel
Ramos Fernandez, Julio Cesar
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-19
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper presents a stability analysis for LNDS (Lagrangian nonlinear dynamical systems) with dynamic uncertain using a PID controller with external disturbances rejection based on attractive ellipsoid methods, since the PID-CT (proportional integral derivative computed torque) compensator has been used for the nonlinear trajectory tracking of an LNDS, when there are external perturbations and system uncertainties.
The global system convergence of the trivial solution has not been proved.
In this sense, we propose an approach to find the gains of the nonlinear PID-CT controller to guarantee the boundedness of the trivial solution by means of the concept of the UUB (uniform-ultimately bounded) stability.
In order to show the effectiveness of the methodology proposed, we applied it in a real 2-DoF robot system.
American Psychological Association (APA)
Ordaz Oliver, Jesus Patricio& Espinoza Quesada, Eduardo Steed& Garcia Barrientos, Abel& Ramos Fernandez, Julio Cesar. 2015. PID Based on Attractive Ellipsoid Method for Dynamic Uncertain and External Disturbances Rejection in Mechanical Systems. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1074494
Modern Language Association (MLA)
Ordaz Oliver, Jesus Patricio…[et al.]. PID Based on Attractive Ellipsoid Method for Dynamic Uncertain and External Disturbances Rejection in Mechanical Systems. Mathematical Problems in Engineering No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1074494
American Medical Association (AMA)
Ordaz Oliver, Jesus Patricio& Espinoza Quesada, Eduardo Steed& Garcia Barrientos, Abel& Ramos Fernandez, Julio Cesar. PID Based on Attractive Ellipsoid Method for Dynamic Uncertain and External Disturbances Rejection in Mechanical Systems. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1074494
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074494