• DocumentCode
    3079952
  • Title

    Simplified PID self-tuning controller for robotic manipulators

  • Author

    Farsi, M. ; Finch, J.W. ; Warwick, K. ; Tzafestas, S.G. ; Stasinopoulos, G.

  • Author_Institution
    University of Newcastle, Newcastle upon Tyne, UK
  • fYear
    1986
  • fDate
    10-12 Dec. 1986
  • Firstpage
    1886
  • Lastpage
    1887
  • Abstract
    The paper describes a self-tuning adaptive PID controller suitable for use in the control of robotic manipulators. The scheme employs a simple recursive estimator which reduces the computational effort to an acceptable level for many applications in robotics.
  • Keywords
    Adaptive control; Delay effects; Equations; Manipulators; Optimal control; Polynomials; Programmable control; Robot control; Three-term control; Velocity control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1986 25th IEEE Conference on
  • Conference_Location
    Athens, Greece
  • Type

    conf

  • DOI
    10.1109/CDC.1986.267316
  • Filename
    4049122
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3079952