An Optimal PID Tuning Method for a Two-Link Manipulator via an Exact Penalty Function Method

Hao Wu; Kunsheng Wang; Ka Fai Cedric Yiu

doi:10.3934/jimo.2023047

An Optimal PID Tuning Method for a Two-Link Manipulator via an Exact Penalty Function Method

Hao Wu, Kunsheng Wang, Ka Fai Cedric Yiu

Research output: Journal article publication › Journal article › Academic research › peer-review

1 Citation (Scopus)

Abstract

In this paper, an optimal PID tuning method is proposed for a class of two-link manipulators. In particular, the control specifications of the manipulators are considered. By modeling the control specifications into state constraints, the optimal PID tuning problem is converted to an optimal parameters selection problem with state constraints. An exact penalty function based method is then utilized to handle the state constraints. The superior of the proposed method over an existing method is verified by carrying out an numerical example.

Original language	English
Pages (from-to)	8469-8482
Number of pages	14
Journal	Journal of Industrial and Management Optimization
Volume	19
Issue number	12
DOIs	https://doi.org/10.3934/jimo.2023047
Publication status	Published - Dec 2023

Keywords

exact penalty function method
optimal control
PID tuning
state constraints

ASJC Scopus subject areas

Business and International Management
Strategy and Management
Control and Optimization
Applied Mathematics

More information

10.3934/jimo.2023047

http://hdl.handle.net/10397/108949

Cite this

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An Optimal PID Tuning Method for a Two-Link Manipulator via an Exact Penalty Function Method

Abstract

Keywords

ASJC Scopus subject areas

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