Auto-tuning PID Controller for Robotic Manipulators

Proceedings of the American Control Conference

Volumn 1, Issue , 2003, Pages 350-355

  Choi, Youngjin ^a   Oh, Yonghwan ^a   Oh, Sang Rok ^a   Chung, Wan Kyun ^b  

^a Korea Institute of Science and Technology   (South Korea)

^b Pohang University of Science and Technology (POSTECH)   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM ANALYSIS; MANIPULATORS; ROBOTICS; SYSTEM STABILITY; THREE TERM CONTROL SYSTEMS; TRACKING (POSITION); TRAJECTORIES;

AUTO-TUNING METHOD;

SELF TUNING CONTROL SYSTEMS;

EID: 0142217192     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. C. C. Yu, Autotuning of PID Controllers: Relay Feedback Approach, Springer, 1999.
2. ∞ optimality of PID trajectory tracking controller for Lagrangian systems," IEEE Trans. on Robotics and Automation, vol. 17, no. 6, pp. 857-869, Dec. 2001.
3. ∞ PID control for industrial manipulators," Trans. ASME J. of Dyn. Syst., Meas. and Contr., pp. 803-812, 2000.
4. 2 disturbances disturbances," IEEE Conf. on Decision and Control, pp. 2419-2423, 2000.
5. V. Chellaboina, W. M. Haddad, and T. Hayakawa, "Direct adaptive control for nonlinear matrix second-order dynamical systems with state-dependent uncertainty," Proc. of the American Control Conference, pp. 4247-4252, 2001.
6. R. Ortega and M. W. Spong, "Adaptive motion control of rigid robots: A tutorial," IEEE Conf. on Decision and Control, pp. 1575-1584, 1988.