Please use this identifier to cite or link to this item:
http://hdl.handle.net/2080/1725
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 |
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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