Gains updated during operation to cope with changes in characteristics and loads. Conceptual multivariable controller for robotic manipulator includes proportional/derivative (PD) controller in inner feedback loop, and proportional/integral/derivative (PID) controller in outer feedback loop. PD controller places poles of transfer function (in Laplace-transform space) of control system for linearized mathematical model of dynamics of robot. PID controller tracks trajectory and decouples input and output.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Multivariable PID Controller For Robotic Manipulator


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    01.06.1990



    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Hybrid GA Tuned RBF Based Neuro-Fuzzy Controller for Robotic Manipulator

    Sufian Ashraf Mazhari / Surendra Kumar | BASE | 2008

    Freier Zugriff

    Autonomous Robotic Manipulator Software

    Cresta, Collin / Rajaram, Radhika / McQuarry, Andrew K. et al. | AIAA | 2024




    Robust Adaptive Coordination Controller for a Spacecraft Equipped with a Robotic Manipulator

    Jayakody, Hiranya S. / Shi, Lingling / Katupitiya, Jay et al. | AIAA | 2016