Non-uniform sampling period of the discrete PID controller and its performance indexes in case of the FLHex robot leg

Autor:	Piotr Burzynski
Rok vydání:	2021
Předmět:	Computer science Control theory Nonuniform sampling Sampling (statistics) PID controller Process control Robot Mobile robot Robot leg Robot control
Zdroj:	MMAR
DOI:	10.1109/mmar49549.2021.9528438
Popis:	Practical implementation of a discrete PID controller for FLHex robot leg position control system with nonuniform sampling is presented. Studies starts with concept of FLHex robot that can operate in terrain and fluid regimes. Usage of non-uniform sampling in PID controllers can provide similar performance and stability of mobile robot with reducing the computational load of the robot control unit. In the case of systems such as the FLHex, where multiple PID controllers are used, this advantage is even greater. Presented comparison of classical and non-uniform discrete PID controller in FLHex robot's leg positions control in underwater movement with varied coefficients shown differences in integrals of the squared error (ISE) and integrals of energy consumption (IEC).
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::2a5afc468a37f94220bbb154c984acee https://doi.org/10.1109/mmar49549.2021.9528438 Zobrazit plný text záznamu