Asymptotic Stability Method for PID Controller Tuning in a Backhoe Machine

Carlos Mastalli; Dimitar Ralev; Novel Certad; Gerardo Fernandez-Lopez

doi:10.1115/DSCC2013-3884

Asymptotic Stability Method for PID Controller Tuning in a Backhoe Machine

Carlos Mastalli, Dimitar Ralev, Novel Certad, Gerardo Fernandez-Lopez

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents the modeling and study of dynamic behavior of a backhoe machine for tuning of PID controller. The tuning procedure of PID controller is performed, in detailed, for the case of a typical operation, digging a foundation and truck loading. This tuning procedure guarantees the local asymptotic stability in the sense of Lyapunov of origin of the closed-loop equation of PID controller. Besides the tuning procedure requires the knowledge of certain properties of dynamic model, which are dependent on the desired trajectory. Finally it is demonstrated that this tuning procedure proves to be effective, and also robust in the execution of other tasks performed by the backhoe machine.

Original language	English
Title of host publication	ASME 2013 Dynamic Systems and Control Conference
Publisher	American Society of Mechanical Engineers(ASME)
Number of pages	8
Volume	3
ISBN (Electronic)	978-0-7918-5614-7
DOIs	https://doi.org/10.1115/DSCC2013-3884
Publication status	Published - 1 Oct 2013
Event	2013 ASME Dynamic Systems and Control Conference - Stanford University, Palo Alto, United States Duration: 21 Oct 2013 → 23 Oct 2013 http://dsc-conference.org/DSCC/2013/

Conference

Conference	2013 ASME Dynamic Systems and Control Conference
Abbreviated title	ASME DSC 2013
Country/Territory	United States
City	Palo Alto
Period	21/10/13 → 23/10/13
Internet address	http://dsc-conference.org/DSCC/2013/

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https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2013/56147/V003T35A003/228934Licence: All Rights Reserved

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@inproceedings{320694f4e9ba483083841dad590eb3a7,

title = "Asymptotic Stability Method for PID Controller Tuning in a Backhoe Machine",

abstract = "This paper presents the modeling and study of dynamic behavior of a backhoe machine for tuning of PID controller. The tuning procedure of PID controller is performed, in detailed, for the case of a typical operation, digging a foundation and truck loading. This tuning procedure guarantees the local asymptotic stability in the sense of Lyapunov of origin of the closed-loop equation of PID controller. Besides the tuning procedure requires the knowledge of certain properties of dynamic model, which are dependent on the desired trajectory. Finally it is demonstrated that this tuning procedure proves to be effective, and also robust in the execution of other tasks performed by the backhoe machine.",

author = "Carlos Mastalli and Dimitar Ralev and Novel Certad and Gerardo Fernandez-Lopez",

note = "V003T35A003; 2013 ASME Dynamic Systems and Control Conference, ASME DSC 2013 ; Conference date: 21-10-2013 Through 23-10-2013",

year = "2013",

month = oct,

day = "1",

doi = "10.1115/DSCC2013-3884",

language = "English",

volume = "3",

booktitle = "ASME 2013 Dynamic Systems and Control Conference",

publisher = "American Society of Mechanical Engineers(ASME)",

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url = "http://dsc-conference.org/DSCC/2013/",

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Mastalli, C, Ralev, D, Certad, N & Fernandez-Lopez, G 2013, Asymptotic Stability Method for PID Controller Tuning in a Backhoe Machine. in ASME 2013 Dynamic Systems and Control Conference. vol. 3, DSCC2013-3884, American Society of Mechanical Engineers(ASME), 2013 ASME Dynamic Systems and Control Conference, Palo Alto, California, United States, 21/10/13. https://doi.org/10.1115/DSCC2013-3884

TY - GEN

T1 - Asymptotic Stability Method for PID Controller Tuning in a Backhoe Machine

AU - Mastalli, Carlos

AU - Ralev, Dimitar

AU - Certad, Novel

AU - Fernandez-Lopez, Gerardo

N1 - V003T35A003

PY - 2013/10/1

Y1 - 2013/10/1

N2 - This paper presents the modeling and study of dynamic behavior of a backhoe machine for tuning of PID controller. The tuning procedure of PID controller is performed, in detailed, for the case of a typical operation, digging a foundation and truck loading. This tuning procedure guarantees the local asymptotic stability in the sense of Lyapunov of origin of the closed-loop equation of PID controller. Besides the tuning procedure requires the knowledge of certain properties of dynamic model, which are dependent on the desired trajectory. Finally it is demonstrated that this tuning procedure proves to be effective, and also robust in the execution of other tasks performed by the backhoe machine.

AB - This paper presents the modeling and study of dynamic behavior of a backhoe machine for tuning of PID controller. The tuning procedure of PID controller is performed, in detailed, for the case of a typical operation, digging a foundation and truck loading. This tuning procedure guarantees the local asymptotic stability in the sense of Lyapunov of origin of the closed-loop equation of PID controller. Besides the tuning procedure requires the knowledge of certain properties of dynamic model, which are dependent on the desired trajectory. Finally it is demonstrated that this tuning procedure proves to be effective, and also robust in the execution of other tasks performed by the backhoe machine.

U2 - 10.1115/DSCC2013-3884

DO - 10.1115/DSCC2013-3884

M3 - Conference contribution

VL - 3

BT - ASME 2013 Dynamic Systems and Control Conference

PB - American Society of Mechanical Engineers(ASME)

T2 - 2013 ASME Dynamic Systems and Control Conference

Y2 - 21 October 2013 through 23 October 2013

ER -

Asymptotic Stability Method for PID Controller Tuning in a Backhoe Machine

Abstract

Conference

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