Abstract
One of the simplest tracking controllers for industrial robot manipulators is the PID control. However, in practice, because it is considerably difficult to determine the PID parameters suitably, many studies have been reported on the tuning method of the PID parameters. The objective of the paper is to design a self-tuning PID controller for achieving the time-varying tracking control of a robot manipulator. We present a fuzzy neural network (FNN), which is used to automate the parameters tuning of the PID controller. Some experimental test results are also included to demonstrate the improvement in the tracking performance when the proposed method is used.
| Original language | English |
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| Pages | 468-473 |
| Number of pages | 6 |
| Publication status | Published - Dec 1 1998 |
| Externally published | Yes |
| Event | Proceedings of the 1998 2nd International Conference on knowledge-Based Intelligent Electronic Systems (KES '98) - Adelaide, Aust Duration: Apr 21 1998 → Apr 23 1998 |
Other
| Other | Proceedings of the 1998 2nd International Conference on knowledge-Based Intelligent Electronic Systems (KES '98) |
|---|---|
| City | Adelaide, Aust |
| Period | 4/21/98 → 4/23/98 |
ASJC Scopus subject areas
- Computer Science(all)