Study on Adaptive PID Controllers with Local and Global Self-Tuning Mechanisms

• Main Authors: Yong-yun Deng, 鄧詠勻
• Other Authors: Shun-Feng Su
• Format: Others
• Language: en_US
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/a7djfp

碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 95 === This research is based on the self-tuning PID control method for three PID control gains adjustment. In this study, the self-tuning PID control method is classified into two types as local tuning and global tuning. The first one is through simulation to discuss the problem of using the original self-tuning neural PID approach. Due to the use of sigmoid function, the modification range of parameters is only local. In view of this drawback, we proposed a novel self-tuning method for PID control gains adjustment which can have global modification for those parameters. This approach utilizes the gradient optimum concept property and sliding mode stable idea to design the adaptive laws. This approach is different from the general way of designing the adaptive laws which is usually obtained by using the concept of the Lyapunov analysis method. Furthermore, an inverted pendulum system and an uncertain chaotic system are employed to demonstrate the control performance of the proposed approach. Good efficiency is shown in our simulation results.