An Adaptive PID Control for Robot Manipulators Under Substantial Payload Variations

Significant payload variations often occur in many practical tasks for robotic applications. But its adequate control is a formidable challenge to control designers, and previous research works have exhibited either limited performance or noticeable difficulties in implementation. In this article, w...

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Bibliographic Details

Published in:	IEEE access Vol. 8; pp. 162261 - 162270
Main Authors:	Lee, Junyoung, Chang, Pyung Hun, Yu, Byeonggi, Jin, Maolin
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptation models Adaptive control Manipulators payload variations Payloads PD control PI control PID control Proportional integral derivative Robot arms Robot control robot manipulator Robotics time-delay estimation Torque
Online Access:	Get full text
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