Nonlinear Adaptive PID Control for Nonlinear Systems

• 成果类型: Article
• 署名作者: [Anonymous]
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3567565
• 发表日期: 2025
• 页码: 7000-7007
• 关键词: PD control; PI control; Nonlinear systems; Adaptive systems; vectors; Windup; uncertainty; performance analysis; gain; training; Asymptotic tracking control; multi-in-multi-out (MIMO) nonlinear systems; nonlinear adaptive proportional-integral-derivative (PID) control

摘要

This article introduces a nonlinear adaptive proportional-integral-derivative (PID) tracking control methodology suitable for a class of multi-in-multi-out nonlinear systems. By incorporating three nonlinear modulating (trimming) functions to recalibrate the generalized tracking error, a nonlinear PID control framework is constructed that possesses several notable features. First, the user-assignable parameters in the modulating functions allow the resultant control strategy to analytically bridge fixed gain linear PID control with nonlinear PID control, covering both traditional fixed-gain and time-varying gain PID control as special cases. Second, the inherently nonlinear nature of the proposed control methodology effectively counteracts system nonlinearities, thereby enhancing the overall performance of the control scheme. Third, unlike conventional PID control that often involves integration saturation, the proposed control method obliterates such windup phenomenon by utilizing the integral trimming function that remains bounded or self-vanishes. Fourth, eliminating the necessity for a trial-and-error process for PID gain determination, the proposed control not only ensures asymptotic tracking but also guarantees a bounded comprehensive performance index in the presence of modeling uncertainties and external disturbances. The effectiveness and benefits of the proposed method are also confirmed by numerical simulations.