This paper studies the problem of high-precision positioning of laser beams using an intelligent proportional–integral–derivative (i-PID) controller. The control problem addressed in laser beams aims at maintaining the position of the laser beam on a position sensing device under the effects of noise and active disturbances. The design of an i-PID control is based on the so-called ultralocal model. The i-PID controller has been implemented and validated on a real test bench. For the sake of enhancing the performance of the closed loop, it has been combined with a nonasymptotic and robust modulating function-based estimation method, which is used to estimate the unmodeled dynamics and disturbances. The proposed i-PID controller has shown good performance in handling the active disturbances and uncertainties present in the platform. A comparison to the classical PID and robust PID is also provided based on the experimental setup. Robustness tests are performed experimentally to show the effectiveness of the i-PID control.

中文翻译：

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基于智能比例-积分-微分控制的调制功能，用于激光束指向和稳定

本文研究了使用智能比例积分微分（i-PID）控制器对激光束进行高精度定位的问题。激光束中解决的控制问题旨在在噪声和主动干扰的影响下将激光束的位置保持在位置感测设备上。i-PID控件的设计基于所谓的超局部模型。i-PID控制器已在实际测试台上实现并经过验证。为了增强闭环的性能，已将其与基于非渐近且鲁棒的调制函数的估计方法结合使用，该方法用于估计未建模的动力学和扰动。提出的i-PID控制器在处理平台中存在的主动干扰和不确定性方面表现出良好的性能。根据实验设置，还提供了与经典PID和鲁棒PID的比较。通过实验进行鲁棒性测试，以显示i-PID控件的有效性。