A self-tuning controller is proposed for an articulated robot using the Plestan’s method. To this end, we reconstruct dynamics exploiting time-delay estimation (TDE) technique. The closed-loop error described with sliding variables and TDE error; then, mode based gain-adaptation law incorporated stability of overall proven in sense Lyapunov. As a result, gain realized through variable. When inc...

Way of playing advancement is the out-standing design of the study of PID control and frequently research work has been guided for this aspiration. The Proportional plus Integral plus Derivative (PID), controllers are most sweepingly used in control theory as well as industrial plants owing to their ease of execution and sturdiness way of playing. The aspiration of this deed representation capa...

In direct adaptive control, the adaptation mechanism attempts to adjust a parameterized nonlinear controller to approximate an ideal controller. In the indirect case, however, we approximate parts of the plant dynamics that are used by a feedback controller to cancel the system nonlinearities. In both cases, ‘‘approximators’’ such as linear mappings, polynomials, fuzzy systems, or neural networ...