Related papers: Adaptive Fractional PID Controller for Robot Manip…

This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the…

In this paper, an adaptive fractional controller has been designed to control chaotic systems. In fact, this controller is a fractional PID controller, which the coefficients will be tuned according to a proper adaptation mechanism. The…

The canonical proportional-integral-derivative (PID) control approach has been widely used in industrial application due to their simplicity and ease of use. However, its corresponding controller parameters are hard to be adjusted,…

A novel fractional order (FO) fuzzy Proportional-Integral-Derivative (PID) controller has been proposed in this paper which works on the closed loop error and its fractional derivative as the input and has a fractional integrator in its…

In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing…

In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…

Robot manipulators are extensively used in industrial applications because of their immense importance such as in constructions automation. Therefore, designing controllers to suit the intensive purpose of the application is one of the…

The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need…

In some of the complicated control problems we have to use the controllers that apply nonlocal operators to the error signal to generate the control. Currently, the most famous controller with nonlocal operators is the fractional-order PID…

In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…

This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…

This paper proposes the application of fractional-order PID (FOPID) controller for output voltage control of boost converters. For this purpose, parameters of the FOPID controller are calculated such that the Integral Absolute Error (IAE)…

Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating the steady state…

Fuzzy logic based PID controllers have been studied in this paper, considering several combinations of hybrid controllers by grouping the proportional, integral and derivative actions with fuzzy inferencing in different forms. Fractional…

The Proportional-Integral-Derivative Controller is widely used in industries for process control applications. Fractional-order PID controllers are known to outperform their integer-order counterparts. In this paper, we propose a new…

In this paper, a novel adaptive tuning method of PID neural network (PIDNN) controller for nonlinear process is proposed. The method utilizes an improved gradient descent method to adjust PIDNN parameters where the margin stability will be…

Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both…

The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…

Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems.…

A fractional order (FO) PID or FOPID controller is designed for an Automatic Voltage Regulator (AVR) system with the consideration of contradictory performance objectives. An improved evolutionary Non-dominated Sorting Genetic Algorithm…