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http://hdl.handle.net/2080/1725
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DC Field | Value | Language |
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dc.contributor.author | Pradhan, Santanu Kumar | - |
dc.contributor.author | Subudhi, B D | - |
dc.date.accessioned | 2012-07-05T12:27:28Z | - |
dc.date.available | 2012-07-05T12:27:28Z | - |
dc.date.issued | 2010-12 | - |
dc.identifier.citation | proceedings of India Conference (INDICON), 2011 Annual IEEE, 2011 , Hyderabad, 16-18 Dec. 2011 | en |
dc.identifier.uri | http://hdl.handle.net/2080/1725 | - |
dc.description | Copyright belongs to proceeding publisher | en |
dc.description.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. | en |
dc.format.extent | 270140 bytes | - |
dc.format.mimetype | application/pdf | - |
dc.language.iso | en | - |
dc.subject | Flexible robot | en |
dc.subject | self-tuning PID control | en |
dc.subject | NARMAX | en |
dc.subject | RLS | en |
dc.title | Nonlinear Self-Tuning PID Controller for a Flexible Manipulator based on NARMAX Model | en |
dc.type | Article | en |
Appears in Collections: | Conference Papers |
Files in This Item:
File | Description | Size | Format | |
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2012_Nonlinear Self-Tuning PID Controller for a Flexible.pdf | 263.81 kB | Adobe PDF | View/Open |
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