摘要：AbstractThis paper proposes a simple saturated proportional-integral-derivative (PID) control for set-point stabilization of motion systems subject to actuator constraint. The proposed controller consists of a saturated proportional-derivative (PD) term and a saturated integral (I) term that robustly compensates the constant or slow time-varying unknown disturbances. It is shown that the proposed saturated PID (SPID) controller globally asymptotic stabilizes the set-point of motion systems without violation of actuator constraint. The appealing feature of the proposed approach is that it embeds the PD term within a single saturation function, which allows us to choose the proportional and derivative gains freely for faster transient and higher steady-state set-point precision. Numerical comparisons of an illustrative example demonstrate the improved performance of the proposed approach.
