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| Title: | Nonlinear Self-Tuning PID Controller for a Flexible Manipulator based on NARMAX Model |
| Authors: | Pradhan, Santanu Kumar
Subudhi, B D |
| Keywords: | Flexible robot
self-tuning PID control
NARMAX
RLS |
| Issue Date: | Dec-2010 |
| Citation: | proceedings of India Conference (INDICON), 2011 Annual IEEE, 2011 , Hyderabad, 16-18 Dec. 2011 |
| Abstract: | This paper describes the design of a new self-tuning controller to control tip trajectory and tip deflection of a two-link flexible manipulator handling variable payloads based on nonlinear autoregressive with moving average and exogenous
input (NARMAX) model. This proposed adaptive controller consists of a multivariate proportional integral and derivative (PID) feedback loop. The gains of the PID controllers are calculated in real-time based on the kinship between PID and generalized minimum variance control laws. Parameters of the NARMAX model are estimated in real-time using an adaptive
filter based on the recursive least square (RLS) algorithms. Simulation results envisage that the NARMAX based selftuning controller tracks a desired tip trajectory while suppressing the tip deflection under load pick-up and release operation. |
| Description: | Copyright belongs to proceeding publisher |
| URI: | http://hdl.handle.net/2080/1725 |
| Appears in Collections: | Conference Papers
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| 2012_Nonlinear Self-Tuning PID Controller for a Flexible.pdf | | 263Kb | Adobe PDF | View/Open |
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