Skip to main content
SpringerLink
Log in

Adaptive Control System of a Robot Manipulator Based on a Decentralized Position-Dependent PID Controller

  • Conference paper
  • First Online:
Cybernetics and Mathematics Applications in Intelligent Systems (CSOC 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 574))

Included in the following conference series:

  • 1092 Accesses

Abstract

The paper describes an approach to adaptive feedback control of a robot manipulator, based on partitioning of the joint space into segments. Within each segment the robot is controlled as a decoupled linear system by means of conventional PID controllers. To achieve continuity of control variables the segments are represented as fuzzy sets. The controller settings are adapted by online identification from past measurements of position and control signals.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Sicilliano, B., Sciavicco, L., Oriollo, G.: Robotics: Modelling, Planning and Control. Springer, London (2009)

    Google Scholar 

  2. Siciliano, B., Khatib, O. (eds.): Springer Handbook of Robotics. Springer, Heidelberg (2008)

    Google Scholar 

  3. Goodwin, G.C., Payne, R.L.: Dynamic System Identification. Experimental Design and Data Analysis. Academic Press, London (1977)

    Google Scholar 

  4. Sugeno, M.: Industrial Applications of Fuzzy Control. Elsevier Science Pub. Co., New York (1985)

    Google Scholar 

  5. Rektorys, K.: Variational Methods in Mathematics, Science and Engineering, 2nd edn. Reidel, Dordrecht (1980)

    Google Scholar 

  6. Kiong, T.K., Quing-Guo, W., Chieh, H.C., Hägglund, T.J.: Advances in PID Control. Springer, Heidelberg (1999)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Faculty of Electrotechnics and Informatics, University of Pardubice, Studentská 95, 532 10, Pardubice, Czech Republic

    Jan Cvejn & Jiří Tvrdík

Authors
  1. Jan Cvejn
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jiří Tvrdík
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jan Cvejn .

Editor information

Editors and Affiliations

  1. Faculty of Applied Informatics, Tomas Bata University in Zlín Faculty of Applied Informatics, Zlín, Czech Republic

    Radek Silhavy

  2. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Roman Senkerik

  3. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Zuzana Kominkova Oplatkova

  4. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Zdenka Prokopova

  5. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Petr Silhavy

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Cvejn, J., Tvrdík, J. (2017). Adaptive Control System of a Robot Manipulator Based on a Decentralized Position-Dependent PID Controller. In: Silhavy, R., Senkerik, R., Kominkova Oplatkova, Z., Prokopova, Z., Silhavy, P. (eds) Cybernetics and Mathematics Applications in Intelligent Systems. CSOC 2017. Advances in Intelligent Systems and Computing, vol 574. Springer, Cham. https://doi.org/10.1007/978-3-319-57264-2_10

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-57264-2_10

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-57263-5

  • Online ISBN: 978-3-319-57264-2

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation