A class of nonlinear PID control for a modified Duffing system

Author

Yu, Dongchuan ; Wang, Dongqing ; Xia, Ninhua

Author_Institution

Coll. of Autom. Eng., Qingdao Univ.

fYear

2006

fDate

14-16 June 2006

Abstract

A metamorphic shape-changing underwater autonomous vehicle (MUV) is considered as a modified Duffing system which displays markedly different chaotic behavior from conventional one. To drive the MUV to desired trajectory with high accuracy, a novel nonlinear proportional-integral-derivative (NPID) controller with well-tuned parameters is proposed. Theoretic analysis validates that using the NPID controller is robust to disturbances, reduces steady-state error and converges fast. In addition, the guidance of choosing the controller parameters is given. Simulation validates that good performance can be obtained by the proposed NPID controller

Keywords

nonlinear control systems; robust control; three-term control; underwater vehicles; NPID controller parameter; metamorphic shape-changing underwater autonomous vehicle chaotic behavior; modified Duffing system; nonlinear PID control; nonlinear proportional-integral-derivative controller; steady-state error reduction; Chaos; Control systems; Displays; Mobile robots; Nonlinear control systems; Pi control; Proportional control; Remotely operated vehicles; Three-term control; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1657396

Filename

1657396