文章基本信息

标题：Analysis and control of non-linear system using three-mode controller
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作者：Rajalakshmi D ; Uma Maheswari M
期刊名称：International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)
印刷版ISSN：2278-1323
出版年度：2015
卷号：4
期号：1
页码：220-224
出版社：Shri Pannalal Research Institute of Technolgy
摘要：This paper explores therecent developments in nonlinear system control and controller tuning methods. Most systems are inherently nonlinear in nature. As the non-linear systems are difficult to solve, they are estimated using linear equations. It is well known that the ability of Proportional- Integral(PI) andProportional-Integral-Derivative(PID) controllers to compensate several practical industrial processes has led to their wide acceptance in various industrial applications. The requirement to choose either two or three controller parameters is most easily done using tuning rules. Robotics is one of the most promising emerging field in engineering. Various tuning methods are applied to the PI and PID controllers that are used in non-linear cruise control system of the robotic vehicle. Performance indices such as Integral Square Error(ISE), Integra Absolute Error(IAE) and Integral Time Absolute Error(ITAE) are compared and analyed. Implementation has been carried out using MATLAB/Simulink programming environment.
关键词：cruise control; non-linear control; PID ; controller; robot; tuning methods