Settling Time Design and Parameter Tuning Methods for Finite-Time P-PI Control

High precision position control and high speed control of the robot manipulators are fundamental and important control problems. The effectiveness of finite-time P-PI control was confirmed by end-effector position control of robot manipulators. However, parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a settling time design method and a parameter tuning method for the finite-time P-PI control. The effectiveness of the proposed parameter tuning method is confirmed by experiments of end-effcctor position control of a robot manipulator.

制怒妙招

生活中不平之事时有发生，难免产生怒气，很多人认为这是没法控制的，事实上，怒气是可以控制的。