Related papers: Adaptive Fractional PID Controller for Robot Manip…
This paper analyzes the motion of solutions to non-homogeneous linear differential equations. It further clarifies that a proportional-integral-derivative (PID) controller essentially comprises two parts: a homogeneous controller and a…
Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enabling the estimation of the external disturbances in terms of…
A Proportional- Integral- Derivative (PID) controller is required to bring a system back to the stable operating region as soon as possible following a disturbance or discrepancy. For successful operation of the PID controller, it is…
This research proposes a Sliding Mode PID (SMC-PID) controller to improve the speed control performance of DC servo motors, which are widely used in industrial applications such as robotics and CNC. The objective of the proposed controller…
This paper addresses the numerical optimization of proportional-integral-derivative (PID) controllers for linear time-invariant systems with delays, where the derivative action is implemented using a low-pass filter. While performance…
Gain and order scheduling of fractional order (FO) PI{\lambda}D{\mu} controllers are studied in this paper considering four different classes of higher order processes. The mapping between the optimum PID/FOPID controller parameters and the…
This work presents the design and the corresponding stability analysis of desired model based, joint position constrained, robot controller. Specifically, provided that the initial joint position tracking error signal starts below some…
Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…
Composite adaptive radial basis function neural network (RBFNN) control with a lattice distribution of hidden nodes has three inherent demerits: 1) the approximation domain of adaptive RBFNNs is difficult to be determined a priori; 2) only…
Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…
The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…
Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…
The great promises of neuromorphic sensing and processing for robotics have led researchers and engineers to investigate novel models for robust and reliable control of autonomous robots (navigation, obstacle detection and avoidance, etc.),…
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…
In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
The problem of PID type controller tuning has been addressed in this paper. In particular, a method of selection of PD settings based on the solution of linear-quadratic optimisation problem using the energy criterion has been investigated.…
This paper presents a novel method for enhancing the adaptability of Proportional-Integral-Derivative (PID) controllers in industrial systems using event-based dynamic game theory, which enables the PID controllers to self-learn, optimize,…