Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/1725
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dc.contributor.authorPradhan, Santanu Kumar-
dc.contributor.authorSubudhi, B D-
dc.date.accessioned2012-07-05T12:27:28Z-
dc.date.available2012-07-05T12:27:28Z-
dc.date.issued2010-12-
dc.identifier.citationproceedings of India Conference (INDICON), 2011 Annual IEEE, 2011 , Hyderabad, 16-18 Dec. 2011en
dc.identifier.urihttp://hdl.handle.net/2080/1725-
dc.descriptionCopyright belongs to proceeding publisheren
dc.description.abstractThis 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.en
dc.format.extent270140 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoen-
dc.subjectFlexible roboten
dc.subjectself-tuning PID controlen
dc.subjectNARMAXen
dc.subjectRLSen
dc.titleNonlinear Self-Tuning PID Controller for a Flexible Manipulator based on NARMAX Modelen
dc.typeArticleen
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