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
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;
Conference_Titel :
Decision and Control, 1986 25th IEEE Conference on
Conference_Location :
Athens, Greece
DOI :
10.1109/CDC.1986.267316
