Adaptive control scheme for a robot manipulator: Direct decoupler and PID controller

Teng F.C., Ledwich G.F. and Shannon G. (1993) Adaptive control scheme for a robot manipulator: Direct decoupler and PID controller. International Journal of Systems Science, 24 2: 315-327. doi:10.1080/00207729308949491


Author Teng F.C.
Ledwich G.F.
Shannon G.
Title Adaptive control scheme for a robot manipulator: Direct decoupler and PID controller
Journal name International Journal of Systems Science   Check publisher's open access policy
ISSN 1464-5319
Publication date 1993
Sub-type Article (original research)
DOI 10.1080/00207729308949491
Volume 24
Issue 2
Start page 315
End page 327
Total pages 13
Subject 2207 Control and Systems Engineering
1706 Computer Science Applications
2614 Theoretical Computer Science
Abstract A two level adaptive controller for the control of a high speed robot is proposed. Dynamic interaction effects of the robot system are eliminated by applying a centralized adaptive multivariable decoupler. Decentralized adaptive PID controllers stabilize and eliminate the static positioning errors of the robot system. No prior knowledge of robot dynamics is required for this scheme. Output transients caused by sensitivity to the system parameter variations is reducible by adjusting the gain constants of the decoupler. Computation load for the implementation of the decoupler is minimal due to its direct nature, The effectiveness of the scheme is demonstrated by simulation results in high speed repetitive motion trackings and load change conditions.
Q-Index Code C1
Q-Index Status Provisional Code
Institutional Status Unknown

Document type: Journal Article
Sub-type: Article (original research)
Collection: Scopus Import
 
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Created: Tue, 12 Jul 2016, 02:28:42 EST by System User