Adaptive Control System of a Robot Manipulator Based on a Decentralized Position-Dependent PID Controller

Cvejn, Jan; Tvrdík, Jiří

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Adaptive Control System of a Robot Manipulator Based on a Decentralized Position-Dependent PID Controller

Cvejn, Jan; Tvrdík, Jiří

10.1007/978-3-319-57264-2_10

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URI: https://hdl.handle.net/10195/69840

Datum publikování: 2017

Typ dokumentu: ConferenceObject

ISSN: 2194-5357

Zdrojový dokument: Cybernetics and Mathematics Applications in Intelligent Systems : Proceedings of the 6th Computer Science On-line Conference 2017 (CSOC2017), Vol 2

Název akce 6th Computer Science On-line Conference 2017 (CSOC 2017) (26.06.2017 - 29.06.2017, Zlín, CZ)

Abstrakt:

The paper describes an approach to adaptive feedback control of a robot manipulator, based on partitioning of the joint space into segments. Within each segment the robot is controlled as a decoupled linear system by means of conventional PID controllers. To achieve continuity of control variables the segments are represented as fuzzy sets. The controller settings are adapted by online identification from past measurements of position and control signals.

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