%0 Journal Article
%T Asymptotic Stability of PID Controller for Nonlinear Mechanical Systems<br>非线性机械系统PID控制渐近稳定性分析
%A SU Yu-Xin
%A ZHENG Chun-Hong
%A <br>苏玉鑫
%A 郑春红
%A Peter C. Müller
%J 自动化学报
%D 2008
%I 
%X In this paper,we provide an answer to the long- standing question of designing global asymptotically stable proportional-integral-derivative(PID)regulators for uncertain nonlinear mechanical systems.Our main contribution is to es- tablish the semiglobal asymptotic stability of the controlled sys- tem with the commonly used linear PID controller by using Lya- punov direct method and LaSalle invariance principle.Further- more,an improved nonlinear proportional-integral plus deriva- tive(NPI-D)controller is proposed to speed up the transient and achieve the global asymptotic stability of the closed-loop system. Simulations performed on a two degree-of-freedom(DOF)robot manipulator demonstrate the improved performance of the pro- posed NPI-D controller.
%K PID control
%K nonlinear PID control
%K semiglobalasymptotic stability
%K global asymptotic stability
%K nonlinear mechanical systems<br>PID控制
%K 非线性PID控制
%K 半全局渐近稳定
%K 全局渐近稳定
%K 非线性机械系统
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=334B0488494DCF6F28C84C4E0D288E1C&yid=67289AFF6305E306&vid=339D79302DF62549&iid=59906B3B2830C2C5&sid=E2EDBBF9B5CDD657&eid=C28CDC724DDFD536&journal_id=0254-4156&journal_name=自动化学报&referenced_num=1&reference_num=12