Learning control of a robot manipulator based on a decentralized position-dependent PID controller
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F17%3A39911413" target="_blank" >RIV/00216275:25530/17:39911413 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Learning control of a robot manipulator based on a decentralized position-dependent PID controller
Original language description
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.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2017 21ST INTERNATIONAL CONFERENCE ON PROCESS CONTROL (PC)
ISBN
978-1-5386-4011-1
ISSN
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e-ISSN
neuvedeno
Number of pages
6
Pages from-to
167-172
Publisher name
IEEE
Place of publication
NEW YORK
Event location
Strbske Pleso
Event date
Jun 6, 2017
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
000412119800030