Learning Control of a Robot Manipulator Based on a Decentralized Position-dependent PID Controller
J. Cvejn, J. Tvrdík
University of Pardubice
Abstract
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.
Full paper
Session
Intelligent Control Systems (Poster)
Reference
Cvejn, J.; Tvrdík, J.: Learning Control of a Robot Manipulator Based on a Decentralized Position-dependent PID Controller. Editors: Fikar, M. and Kvasnica, M., In Proceedings of the 2017 21st International Conference on Process Control (PC), Štrbské Pleso, Slovakia, June 6 – 9, 167–172, 2017.
BibTeX
| @inProceedings{pc2017-006, | ||
| author | = { | Cvejn, J. and Tvrd\'ik, J.}, |
| title | = { | Learning Control of a Robot Manipulator Based on a Decentralized Position-dependent PID Controller}, |
| booktitle | = { | Proceedings of the 2017 21st International Conference on Process Control (PC)}, |
| year | = { | 2017}, |
| pages | = { | 167-172}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | \v{S}trbsk\'e Pleso, Slovakia}} |