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A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators

This paper proposes a nonlinear variable gain Proportional-Derivative (PD) controller that exhibits self-constructing and self-learning capabilities. In this method, the conventional linear PD controller is augmented with a nonlinear variable PD gain control signal using a dynamic structural netw...

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Main Authors: Kiong, Loo Chu, Rajeswari, Mandava, Kiong, Wong Eng, Rao, M. V. C.
Format: Article
Language:English
English
Published: Universiti Putra Malaysia Press 2004
Online Access:http://psasir.upm.edu.my/id/eprint/3621/1/A_Self-learning_Nonlinear_Variable_Gain_Proportional.pdf
http://psasir.upm.edu.my/id/eprint/3621/
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spelling my.upm.eprints.36212013-05-27T07:09:56Z http://psasir.upm.edu.my/id/eprint/3621/ A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators Kiong, Loo Chu Rajeswari, Mandava Kiong, Wong Eng Rao, M. V. C. This paper proposes a nonlinear variable gain Proportional-Derivative (PD) controller that exhibits self-constructing and self-learning capabilities. In this method, the conventional linear PD controller is augmented with a nonlinear variable PD gain control signal using a dynamic structural network. The dynamic structural network known as Growing Multi-Experts etwork grows in time by placing hidden nodes in regions of the state space visited by the system during operation. This results in a network that is "economic" in terms of network sileo The proposed approach enhances the adaptability of conventional PD controller while preserving its' linear structure. Based on the simulation study on variable load and friction compensation, the fast adaptation is shown to be able to compensate the non-linearity and the uncertainty in the robotic system. Universiti Putra Malaysia Press 2004 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/3621/1/A_Self-learning_Nonlinear_Variable_Gain_Proportional.pdf Kiong, Loo Chu and Rajeswari, Mandava and Kiong, Wong Eng and Rao, M. V. C. (2004) A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators. Pertanika Journal of Science & Technology, 12 (2). pp. 139-158. ISSN 0128-7680 English
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
English
description This paper proposes a nonlinear variable gain Proportional-Derivative (PD) controller that exhibits self-constructing and self-learning capabilities. In this method, the conventional linear PD controller is augmented with a nonlinear variable PD gain control signal using a dynamic structural network. The dynamic structural network known as Growing Multi-Experts etwork grows in time by placing hidden nodes in regions of the state space visited by the system during operation. This results in a network that is "economic" in terms of network sileo The proposed approach enhances the adaptability of conventional PD controller while preserving its' linear structure. Based on the simulation study on variable load and friction compensation, the fast adaptation is shown to be able to compensate the non-linearity and the uncertainty in the robotic system.
format Article
author Kiong, Loo Chu
Rajeswari, Mandava
Kiong, Wong Eng
Rao, M. V. C.
spellingShingle Kiong, Loo Chu
Rajeswari, Mandava
Kiong, Wong Eng
Rao, M. V. C.
A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators
author_facet Kiong, Loo Chu
Rajeswari, Mandava
Kiong, Wong Eng
Rao, M. V. C.
author_sort Kiong, Loo Chu
title A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators
title_short A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators
title_full A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators
title_fullStr A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators
title_full_unstemmed A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators
title_sort self-learning nonlinear variable gain proportional derivative (pd) controller in robot manipulators
publisher Universiti Putra Malaysia Press
publishDate 2004
url http://psasir.upm.edu.my/id/eprint/3621/1/A_Self-learning_Nonlinear_Variable_Gain_Proportional.pdf
http://psasir.upm.edu.my/id/eprint/3621/
_version_ 1643822663650508800
score 13.211869

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