Simplified PID self-tuning controller for robotic manipulators
Farsi, M., Finch, J. W., Warwick, K., Tzafestas, S. G. and Stasinopoulos, G. (1986) Simplified PID self-tuning controller for robotic manipulators. In: 25th IEEE Conference on Decision and Control, 10-12 December 1986, Athens, Greece, pp. 1886-1887.
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Official URL: http://dx.doi.org/10.1109/CDC.1986.267316
The paper describes a self-tuning adaptive PID controller suitable for use in the control of robotic manipulators. The scheme employs a simple recursive estimator which reduces the computational effort to an acceptable level for many applications in robotics.