Decentralized PID self-tuning control of industrial robots
Tzafestas, S., Stassinopoulos, G., Farsi, M., Finch, J. and Warwick, K. (1986) Decentralized PID self-tuning control of industrial robots. In: 25th IEEE Conference on Decision and Control, 10-12 December 1986, Athens, Greece, pp. 1888-1890.
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To link to this article DOI: 10.1109/CDC.1986.267317
A three degrees of freedom industrial robot is controlled by applying PID self-tuning (PID/ST) controllers. This control is considered as a corrective term to a nominal value, centrally computed from an inaccurate and/ or simplified dynamic model. An identification scheme on an assumed linear plant describing the deviation from the desired trajectory is employed in order to tune the controller coefficients and thus accomplish a behaviour prescribed through a desired pole placement. A salient feature of our approach is the decentralized nature of the controllers producing the corrective term for each joint. This opens the way to practical implementation, as recent computing requirement calculations for similar set-ups have shown in the literature. Numerical results are presented.