Constraint-Aware Discrete-Time PID Gain Optimization for Robotic Joint Control Under Actuator Saturation
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866911423759646720 |
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| author | Mishra, Ojasva Wu, Xiaolong Xu, Min |
| author_facet | Mishra, Ojasva Wu, Xiaolong Xu, Min |
| contents | The precise regulation of rotary actuation is fundamental in autonomous robotics, yet practical PID loops deviate from continuous-time theory due to discrete-time execution, actuator saturation, and small delays and measurement imperfections. We present an implementation-aware analysis and tuning workflow for saturated discrete-time joint control. We (i) derive PI stability regions under Euler and exact zero-order-hold (ZOH) discretizations using the Jury criterion, (ii) evaluate a discrete back-calculation anti-windup realization under saturation-dominant regimes, and (iii) propose a hybrid-certified Bayesian optimization workflow that screens analytically unstable candidates and behaviorally unsafe transients while optimizing a robust IAE objective with soft penalties on overshoot and saturation duty. Baseline sweeps ($τ=1.0$~s, $Δt=0.01$~s, $u\in[-10,10]$) quantify rise/settle trends for P/PI/PID. Under a randomized model family emulating uncertainty, delay, noise, quantization, and tighter saturation, robustness-oriented tuning improves median IAE from $0.843$ to $0.430$ while keeping median overshoot below $2\%$. In simulation-only tuning, the certification screen rejects $11.6\%$ of randomly sampled gains within bounds before full robust evaluation, improving sample efficiency. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_18639 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Constraint-Aware Discrete-Time PID Gain Optimization for Robotic Joint Control Under Actuator Saturation Mishra, Ojasva Wu, Xiaolong Xu, Min Robotics The precise regulation of rotary actuation is fundamental in autonomous robotics, yet practical PID loops deviate from continuous-time theory due to discrete-time execution, actuator saturation, and small delays and measurement imperfections. We present an implementation-aware analysis and tuning workflow for saturated discrete-time joint control. We (i) derive PI stability regions under Euler and exact zero-order-hold (ZOH) discretizations using the Jury criterion, (ii) evaluate a discrete back-calculation anti-windup realization under saturation-dominant regimes, and (iii) propose a hybrid-certified Bayesian optimization workflow that screens analytically unstable candidates and behaviorally unsafe transients while optimizing a robust IAE objective with soft penalties on overshoot and saturation duty. Baseline sweeps ($τ=1.0$~s, $Δt=0.01$~s, $u\in[-10,10]$) quantify rise/settle trends for P/PI/PID. Under a randomized model family emulating uncertainty, delay, noise, quantization, and tighter saturation, robustness-oriented tuning improves median IAE from $0.843$ to $0.430$ while keeping median overshoot below $2\%$. In simulation-only tuning, the certification screen rejects $11.6\%$ of randomly sampled gains within bounds before full robust evaluation, improving sample efficiency. |
| title | Constraint-Aware Discrete-Time PID Gain Optimization for Robotic Joint Control Under Actuator Saturation |
| topic | Robotics |
| url | https://arxiv.org/abs/2601.18639 |