The Non-Interference PID Control for Twin Brushes Polishing Robot
نویسندگان
چکیده
منابع مشابه
Pneumatic Cylinder Control Pid for Manipulator Robot
This work shows a controller development for cylinder penumatic, that due to compressibility air characteristics, present a non linear behavior. Is including the develop of PID, discreete PID and Fuzzy Logic approximation, as solution to the problem. The work is part of a major project of Flexible Manipulator Robot, with dielectrics characteristics, for cleaning of porcelain isolators of high v...
متن کاملNeural Network Global Sliding Mode PID Control for Robot Manipulators
This paper presents a neural network global PID-sliding mode control method for the tracking control of robot manipulators with bounded uncertainties. A certain sliding mode controller with PID sliding function is developed. In this controller, the switching gain is tuned by a RBF neural network on the reachable condition of sliding mode. Thus, the effect of chattering can be alleviated. Moreov...
متن کاملNonlinear H-inf Control with Pid Structure for Robot Manipulators
In this paper the nonlinear H1 con trol for robot manipulators introduced in (F eng, W., P ostleth w aite, I., 1994) is extended. An additional in tegral term is included to cope with persistent disturbances, such as constant weigh ts at theendefecctor. The extended controller is in terpreted like a computed torque control with and external PID, whose gain matrices vary with the position and ve...
متن کاملBackstepping based PID Control Strategy for an Underactuated Aerial Robot
In this paper a nonlinear model of an underactuated quad rotor aerial robot is derived, based on Newton-Euler formalism, and backstepping based PID control strategy is implemented for the derived model. Model derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate actuation forces through modeling of aerodynamic coefficients and elec...
متن کاملAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2009
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.27.679