Ponencia
Robust PID tuning. Application to a Mobile Robot Pathtraking problem.
Autor/es | Normey Rico, Julio Elías
Alacalá, Ismael Gómez Ortega, Juan Camacho, Eduardo F. |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2000 |
Fecha de depósito | 2020-04-22 |
Publicado en |
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ISBN/ISSN | 1474-6670 |
Resumen | This paper presents a methodology for tuning PIDs considering the nominal performance and the robustness as control specifications. The synthesis procedure is similar to the Ziegler-Nichols method for PID controllers and ... This paper presents a methodology for tuning PIDs considering the nominal performance and the robustness as control specifications. The synthesis procedure is similar to the Ziegler-Nichols method for PID controllers and can be easily used for industrial processes. As a workbench for testing the PID controller a mobile robot has been used. The path tracking problem of a mobile robot has been used as a workbench for testing the PID controller. |
Cita | Normey Rico, J.E., Alacalá, I., Gómez Ortega, J. y Camacho, E.F. (2000). Robust PID tuning. Application to a Mobile Robot Path traking problem.. En IFAC Digital Control:Past.Present and Future of PlO Control (559-564), Terrassa.Spain: Elsevier. |
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