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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
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
Appears in Collections:Conference Papers

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