On the control of robot manipulator: A model-free approach

Autor:	Samira Chouraqui, Hassane Abouaïssa
Rok vydání:	2019
Předmět:	General Computer Science Computer science MIMO Control (management) Robot manipulator Model free Theoretical Computer Science Computer Science::Robotics Identification (information) Nonlinear system Control theory Modeling and Simulation Robot Algebraic method
Zdroj:	Journal of Computational Science. 31:6-16
ISSN:	1877-7503
DOI:	10.1016/j.jocs.2018.12.011
Popis:	The works presented in this paper deal with the control of a highly nonlinear and uncertain system using the new setting of “Model-Free Control” and its related intelligent Proportional, Integral and Derivative (iPID) regulators. Such approach that can be designed, using only the input and output data of the controlled device and the new algebraic method of identification, is applied to the control of multi/input-multi/output (MIMO) robot manipulators. Numerical simulations conducted for the robot PUMA 560 with 6° of freedom (6-DOF) show the effectiveness of the method and the easiness of the tuning of the gains parameters of the used regulators.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::af13dcf2dfa886ee933a5890909128a4 https://doi.org/10.1016/j.jocs.2018.12.011 Zobrazit plný text záznamu Full Text from ScienceDirect