Hardware implementation of nonlinear PID controller with FPGA based on floating point operation for 6-DOF manipulator robot arm

2007 ◽  
Author(s):  
Jeong-Seob Kim ◽  
Hyo-Won Jeon ◽  
Seul Jung
Keyword(s):  
Pid Controller ◽  
Hardware Implementation ◽  
Floating Point ◽  
Robot Arm ◽  
Nonlinear Pid Controller ◽  
Manipulator Robot

Hardware Implementation of Floating-Point Arithmetic

2018 ◽  
pp. 267-320
Author(s):  
Jean-Michel Muller ◽  
Nicolas Brunie ◽  
Florent de Dinechin ◽  
Claude-Pierre Jeannerod ◽  
Mioara Joldes ◽  
...  
Keyword(s):  
Hardware Implementation ◽  
Floating Point ◽  
Floating Point Arithmetic ◽  
Point Arithmetic

A Nonlinear Feedback Control Scheme for Transient Performance Enhancement in Hard Disk Drives

2014 ◽  
Author(s):  
Minghui Zheng ◽  
Xu Chen ◽  
Masayoshi Tomizuka
Keyword(s):  
Steady State ◽  
Pid Controller ◽  
Control Algorithm ◽  
Hard Disk Drives ◽  
Hard Disk ◽  
Disk Drives ◽  
Transient Performance ◽  
Nonlinear Feedback ◽  
Nonlinear Pid Controller ◽  
Steady State Performance

This paper aims to develop a nonlinear control algorithm to break the limitations of linear PID controls and improve the transient performance during the short-span track seeking / settling in hard disk drives (HDDs). It is designed based on a baseline PID controller which is well-designed to obtain good track following performance. The control algorithm is a combination of a nonlinear PID controller and a nonlinear turbo controller (NTC): when the position error signal (PES) is large, NTC assists the nonlinear PID controller to rapidly reduce the error; when PES is small, NTC is turned off to avoid possible chattering and ensure good steady state performance. As PES becomes even smaller, the nonlinear PID controller is reduced to the baseline PID controller to keep good steady state performance.

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