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

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F17%3A39911411" target="_blank" >RIV/00216275:25530/17:39911411 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-57264-2_10" target="_blank" >http://dx.doi.org/10.1007/978-3-319-57264-2_10</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-57264-2_10" target="_blank" >10.1007/978-3-319-57264-2_10</a>

Result language
angličtina
Original language name
Adaptive Control System of a Robot Manipulator Based on a Decentralized Position-Dependent PID Controller
Original language description
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.
Czech name
—
Czech description
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Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Cybernetics and Mathematics Applications in Intelligent Systems : Proceedings of the 6th Computer Science On-line Conference 2017 (CSOC2017), Vol 2
ISBN
978-3-319-57264-2
ISSN
2194-5357
e-ISSN
neuvedeno
Number of pages
9
Pages from-to
101-109
Publisher name
Springer
Place of publication
Berlin
Event location
Zlín
Event date
Jun 26, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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