Abstract
Motivated by PID control simplicity, robustness and validity to deal with the nonlinearity and uncertainties of dynamics, through simulating the intelligent behavior of human manual control, and only using the elementary information on hand, this paper introduces a simple formulation to represent prior knowledge and experiences of human manual control, and proposes a simple and practicable control law, named Human-Simulating Intelligent PID control (HSI-PID), and the simple tuning rules with the explicit physical meaning. HSI-PID control can not only easily incorporate prior knowledge and experiences of experts control into the controller but also automatically acquire knowledge of control experiences from the past control behavior to correct the control action online. The theoretical analysis and simulation results show that: HSI-PID control has the better flexibility, stronger robustness, and especially the faster self-learning ability, and it can make the motion of system identically track the desired response, whether the controlled system has the strong nonlinearity and uncertainties of dynamics or not, even under the actions of uncertain, varying-time and strong disturbances.
Highlights
It is well known that the PID controllers [1] [2] [3] are still used extensively in industrial control and studied intensively in current control area because the PID control has exceeding simplicity and strong robustness and can effectively deal with nonlinearity and uncertainties of dynamics and asymptotic stability can be achieved .A major drawback of PID control is that it often suffers a serious loss of performance, that is, causes large overshoot and long settling time, even may lead to instability due to unlimited integral action
Motivated by PID control simplicity, robustness and validity to deal with the nonlinearity and uncertainties of dynamics, through simulating the intelligent behavior of human manual control, and only using the elementary information on hand, this paper introduces a simple formulation to represent prior knowledge and experiences of human manual control, and proposes a simple and practicable control law, named Human-Simulating Intelligent PID control (HSI-PID), and the simple tuning rules with the explicit physical meaning
HSI-PID control can incorporate prior knowledge and experiences of experts control into the controller and automatically acquire knowledge of control experiences from the past control behavior to correct the control action online
Summary
It is well known that the PID controllers [1] [2] [3] are still used extensively in industrial control and studied intensively in current control area because the PID control has exceeding simplicity and strong robustness and can effectively deal with nonlinearity and uncertainties of dynamics and asymptotic stability can be achieved . A major drawback of PID control is that it often suffers a serious loss of performance, that is, causes large overshoot and long settling time, even may lead to instability due to unlimited integral action. General concave integral control [8], general convex integral control [9], general bounded integral control [10] and the generalization of the integrator and integral control action [11] were all developed by resorting to an ordinary control along with a known Lyapunov function These general integral control laws above can effectively deal with the intrinsic shortcomings of PID control and have the better control performance; these PID-like and general integral controllers above are all unintelligent.
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