DECENTRALIZED PID SELF-TUNING CONTROL OF INDUSTRIAL ROBOTS.

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Title

DECENTRALIZED PID SELF-TUNING CONTROL OF INDUSTRIAL ROBOTS. (EN)

Creator

Farsi, M (EN)

Warwick, K (EN)

Stassinopoulos, GI (EN)

Finch, JW (EN)

Tzafestas, SG (EN)

Type

conferenceItem (EN)

Conference item (EN)

Issued

2014-03-01T02:40:49Z

1986 (EN)

Year

1986 (EL)

Description

A three-degree-of-freedom industrial robot is controlled by applying PID self-tuning (PID/ST) controllers. This control is considered as a corrective term to a nominal value, centrally computed from an inaccurate and/or simplified dynamic model. An identification scheme on an assumed linear plant describing the deviation from the desired trajectory is used in order to tune the controller coefficients and thus accomplish a behavior prescribed through a desired pole placement. A salient feature of the approach is the decentralized nature of the controllers producing the corrective term for each joint. This opens the way to practical implementation, as recent computing requirement calculations for similar setups have shown in the literature. Numerical results are presented. (EN)

Subject

DISTRIBUTED CONTROL (EN)

Degree of Freedom (EN)

Pole Placement (EN)

ADAPTIVE CONTROL (EN)

Dynamic Model (EN)

CONTROL SYSTEMS, THREE TERM - Mathematical Models (EN)

PID SELF-TUNING CONTROL (EN)

PROPORTIONAL CONTROL (EN)

ROBOTS, INDUSTRIAL (EN)

Industrial Robots (EN)

Conference