Learning control of a robot manipulator based on a decentralized position-dependent PID controller

Cvejn, Jan; Tvrdík, Jiří

Digitální knihovna UPCE
→
Univerzita Pardubice
→
Publikační činnost akademických pracovníků UPCE / UPCE Research Outputs
→
Zobrazit záznam

Learning control of a robot manipulator based on a decentralized position-dependent PID controller

Cvejn, Jan; Tvrdík, Jiří

10.1109/PC.2017.7976208

Soubory tohoto záznamu

URI: https://hdl.handle.net/10195/69841

Datum publikování: 2017

Typ dokumentu: ConferenceObject

Zdrojový dokument: 2017 21ST INTERNATIONAL CONFERENCE ON PROCESS CONTROL (PC)

Vydavatelská verze: http://ieeexplore.ieee.org/document/7976208/

Název akce 21st International Conference on Process Control (PC) (06.06.2017 - 07.06.2017, Strbske Pleso, SK)

Abstrakt:

The paper describes an approach to learning 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.

Zobrazit celý záznam