{"id":"https://openalex.org/W2474973553","doi":"https://doi.org/10.1177/0959651816657454","title":"Cascaded proportional\u2013integral\u2013derivative controller parameters tuning for contour following improvement","display_name":"Cascaded proportional\u2013integral\u2013derivative controller parameters tuning for contour following improvement","publication_year":2016,"publication_date":"2016-07-12","ids":{"openalex":"https://openalex.org/W2474973553","doi":"https://doi.org/10.1177/0959651816657454","mag":"2474973553"},"language":"en","primary_location":{"id":"doi:10.1177/0959651816657454","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651816657454","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101471000","display_name":"Jianhua Wu","orcid":"https://orcid.org/0000-0002-2410-5013"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianhua Wu","raw_affiliation_strings":["Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P.R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103700029","display_name":"Jian Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Hu","raw_affiliation_strings":["Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P.R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036757330","display_name":"Zhenhua Xiong","orcid":"https://orcid.org/0000-0001-6046-3101"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Xiong","raw_affiliation_strings":["Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P.R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057513904","display_name":"Han Ding","orcid":"https://orcid.org/0000-0003-2905-6369"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Ding","raw_affiliation_strings":["Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P.R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101471000"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.339,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.82088039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"230","issue":"9","first_page":"892","last_page":"904"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8773327469825745},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5571397542953491},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5226119160652161},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.49092963337898254},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4907017946243286},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.43943488597869873},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43818196654319763},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.4261142611503601},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3933076560497284},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2404370903968811},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20165395736694336},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.1912127137184143},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.16538754105567932},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1165170669555664}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8773327469825745},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5571397542953491},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5226119160652161},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.49092963337898254},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4907017946243286},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.43943488597869873},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43818196654319763},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.4261142611503601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3933076560497284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2404370903968811},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20165395736694336},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.1912127137184143},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.16538754105567932},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1165170669555664},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651816657454","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651816657454","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1964956827","https://openalex.org/W1972230571","https://openalex.org/W1973777290","https://openalex.org/W1974047015","https://openalex.org/W1978529217","https://openalex.org/W1992336075","https://openalex.org/W2001652255","https://openalex.org/W2003334848","https://openalex.org/W2017465286","https://openalex.org/W2022398830","https://openalex.org/W2029710568","https://openalex.org/W2033552907","https://openalex.org/W2036623427","https://openalex.org/W2038436774","https://openalex.org/W2046715800","https://openalex.org/W2052343558","https://openalex.org/W2063537031","https://openalex.org/W2064693539","https://openalex.org/W2080785832","https://openalex.org/W2081808776","https://openalex.org/W2089750983","https://openalex.org/W2093488611","https://openalex.org/W2094868139","https://openalex.org/W2096230864","https://openalex.org/W2098418776","https://openalex.org/W2099532757","https://openalex.org/W2121151459","https://openalex.org/W2129515350","https://openalex.org/W2131242098","https://openalex.org/W2138718561","https://openalex.org/W2141694011","https://openalex.org/W2146895301","https://openalex.org/W2147531519","https://openalex.org/W2151421945","https://openalex.org/W2152565922","https://openalex.org/W2155935235","https://openalex.org/W2161099767","https://openalex.org/W2166321863","https://openalex.org/W2166394531","https://openalex.org/W2166460923","https://openalex.org/W2166664886"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2982600058","https://openalex.org/W2394883510","https://openalex.org/W1963486701","https://openalex.org/W2023324176","https://openalex.org/W2150958483","https://openalex.org/W204648549","https://openalex.org/W4244904831"],"abstract_inverted_index":{"Most":[0],"commercial":[1],"servo":[2,83],"systems":[3],"utilize":[4],"cascaded":[5,69,88],"proportional\u2013integral\u2013derivative":[6,70,89],"controller":[7,33,40,71,130,153],"due":[8],"to":[9,113,124,142,163],"its":[10],"simplicity":[11],"and":[12,24,48,60,92,181,203],"robustness.":[13],"Under":[14],"this":[15],"control":[16,90],"structure,":[17],"motion":[18,190],"performances":[19],"such":[20,68],"as":[21,55],"single-axial":[22],"tracking":[23],"multi-axial":[25],"contour":[26,75,109,167,207],"following":[27,76,110,168,183],"are":[28,111,132,160],"completely":[29],"determined":[30],"by":[31,135],"the":[32,56,82,87,94,102,105,116,126,129,140,144,149,166,172,179,199,206],"parameters.":[34],"In":[35,122],"real":[36],"applications,":[37],"current":[38],"loop":[39,47,50,134,136],"parameters":[41,72,96,131,154],"usually":[42],"remain":[43],"unchanged":[44],"while":[45],"velocity":[46],"position":[49],"ones":[51],"should":[52],"be":[53],"tuned":[54,133,162],"mechanisms":[57],"including":[58,155],"inertia":[59],"resonant":[61],"frequency":[62],"vary.":[63],"This":[64],"article":[65],"focuses":[66],"on":[67,108,148,187],"tuning":[73,174],"for":[74],"performance":[77],"improvement.":[78],"It":[79],"first":[80],"describes":[81],"system":[84],"dynamics":[85,107,119,201],"under":[86],"structure":[91],"identifies":[93],"model":[95],"via":[97],"relay":[98],"feedback":[99],"technology.":[100],"Then,":[101],"effects":[103],"of":[104],"closed-loop":[106],"analyzed":[112],"gain":[114],"that":[115,195],"matched":[117],"axial":[118,127,200],"is":[120,176],"preferable.":[121],"order":[123],"match":[125,198],"dynamics,":[128],"through":[137,178],"setting":[138],"all":[139],"axes":[141],"have":[143],"same":[145],"bandwidths.":[146],"Based":[147],"identified":[150],"results,":[151],"feedforward":[152],"nonlinear":[156],"coulomb":[157],"friction":[158],"compensation":[159],"also":[161],"further":[164],"improve":[165],"performance.":[169],"At":[170],"last,":[171],"proposed":[173],"method":[175],"verified":[177],"ellipse":[180],"diamond":[182],"experiments":[184],"carried":[185],"out":[186],"an":[188],"X-Y":[189],"stage.":[191],"The":[192],"results":[193],"show":[194],"it":[196],"can":[197],"effectively":[202],"thus":[204],"reduce":[205],"error":[208],"greatly.":[209]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}