Cited 4 time in webofscience Cited 4 time in scopus

An Adaptive PID Control for Robot Manipulators Under Substantial Payload Variations

Title
An Adaptive PID Control for Robot Manipulators Under Substantial Payload Variations
Authors
Lee, JunyoungChang, Pyung HunYu, Byeong GiJin, Maolin
DGIST Authors
Lee, Junyoung; Chang, Pyung Hun; Yu, Byeong Gi; Jin, Maolin
Issue Date
2020-09
Citation
IEEE Access, 8, 162261-162270
Type
Article
Article Type
Article
Author Keywords
PI controlPD controlPayloadsAdaptation modelsManipulatorsTorqueAdaptive controlpayload variationsPID controlrobot manipulatortime-delay estimation
Keywords
INDUSTRIAL ROBOTTRACKING CONTROLMOTION CONTROLTUNING METHODROBUST
ISSN
2169-3536
Abstract
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, we have proposed an adaptive PID control that is simple, model-free, and robust against payload variations. These advantages, already verified from the adaptive time-delay control (TDC), have been inherited to the proposed PID control through the equivalence relationship between the two controls. As a result, the proposed PID shares the simplicity, robustness, and the model free property, as well as the high levels of stability and performance with the adaptive TDC. In particular, the selection of its gains becomes especially simple and straightforward, while the adaptation becomes efficient under substantial payload variations. These positive attributes have been verified through simulations and experiments on robots under substantial payload variation. In particular, the proposed PID control was applied to the control of a WAM robot holding a baseball bat, with a result better than a standard PID control.
URI
http://hdl.handle.net/20.500.11750/12833
DOI
10.1109/ACCESS.2020.3014348
Publisher
Institute of Electrical and Electronics Engineers Inc.
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