Position Control of a Flexible Manipulator Using a New Nonlinear Self-Tuning PID Controller

• 作 者: Santanu Kumar Pradhan Bidyadha
• 机 构: IEEE,SchoolofElectricalSciences,SchoolofElectricalSciences
• 出 处: 自动化学报:英文版
• 发表日期: 2020年1期
• 关键词: Index Terms—Flexible-link MANIPULATOR POSITION CONTROL selftuning CONTROL NARMAX

In this paper, a new nonlinear self-tuning PID controller(NSPIDC) is proposed to control the joint position and link deflection of a flexible-link manipulator(FLM) while it is subjected to carry different payloads. Since, payload is a critical parameter o