Title :
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.
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;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657396
