DECENTRALIZED PID SELF-TUNING CONTROL OF INDUSTRIAL ROBOTS.

Tzafestas, SG; Stassinopoulos, GI; Farsi, M; Finch, JW; Warwick, K

dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Stassinopoulos, GI	en
dc.contributor.author	Farsi, M	en
dc.contributor.author	Finch, JW	en
dc.contributor.author	Warwick, K	en
dc.date.accessioned	2014-03-01T02:40:49Z
dc.date.available	2014-03-01T02:40:49Z
dc.date.issued	1986	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30238
dc.subject	Degree of Freedom	en
dc.subject	Dynamic Model	en
dc.subject	Industrial Robots	en
dc.subject	Pole Placement	en
dc.subject.other	CONTROL SYSTEMS, THREE TERM - Mathematical Models	en
dc.subject.other	ADAPTIVE CONTROL	en
dc.subject.other	DISTRIBUTED CONTROL	en
dc.subject.other	PID SELF-TUNING CONTROL	en
dc.subject.other	PROPORTIONAL CONTROL	en
dc.subject.other	ROBOTS, INDUSTRIAL	en
dc.title	DECENTRALIZED PID SELF-TUNING CONTROL OF INDUSTRIAL ROBOTS.	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.1986.267317	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.1986.267317	en
heal.publicationDate	1986	en
heal.abstract	A three-degree-of-freedom industrial robot is controlled by applying PID self-tuning (PID/ST) controllers. This control is considered as a corrective term to a nominal value, centrally computed from an inaccurate and/or simplified dynamic model. An identification scheme on an assumed linear plant describing the deviation from the desired trajectory is used in order to tune the controller coefficients and thus accomplish a behavior prescribed through a desired pole placement. A salient feature of the approach is the decentralized nature of the controllers producing the corrective term for each joint. This opens the way to practical implementation, as recent computing requirement calculations for similar setups have shown in the literature. Numerical results are presented.	en
heal.publisher	IEEE, New York, NY, USA	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.1986.267317	en
dc.identifier.spage	1888	en
dc.identifier.epage	1890	en