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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| Format: | Article |
| Language: | en English |
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Universiti Putra Malaysia Press
2004
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| 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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| author | Kiong, Loo Chu Rajeswari, Mandava Kiong, Wong Eng Rao, M. V. C. |
| author_facet | Kiong, Loo Chu Rajeswari, Mandava Kiong, Wong Eng Rao, M. V. C. |
| author_sort | Kiong, Loo Chu |
| building | UPM Library |
| collection | Institutional Repository |
| content_provider | Universiti Putra Malaysia |
| content_source | UPM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| 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 |
| id | my.upm.eprints-3621 |
| institution | Universiti Putra Malaysia |
| language | en English |
| publishDate | 2004 |
| publisher | Universiti Putra Malaysia Press |
| record_format | eprints |
| 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 |
| 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 |
| title | 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_short | 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 |
| 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/ |
| url_provider | http://psasir.upm.edu.my/ |