Self-repairing Adaptive PID Control for Plants with Sensor Failures

被引：1

作者：

Takahashi, Masanori ^{[1
]}

机构：

[1] Tokai Univ, Dept Elect Engn & Comp Sci, Higashi Ku, 9-1-1 Toroku, Kumamoto 8628652, Japan

来源：

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE | 2018年 / 5卷 / 02期

关键词：

PID control; Adaptive control; Fault-tolerant control; Sensor failure;

D O I：

10.2991/jrnal.2018.5.2.8

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new design method for a self-repairing adaptive PID control system. The control system has the adaptive adjusting mechanisms for the PID gains, and also can detect the sensor failure by self-test using the integrator in the PID controller. Hence, for plants with unknown parameters, self-repairing control can be successfully attained. Furthermore, in this paper, the control performances are theoretically analyzed.

引用

页码：110 / 113

页数：4

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