A hybrid PID control scheme for flexible joint manipulators and a comparison with sliding mode control
The article focuses on the issues of dynamic modelling and control of manipulators which have elastic joints. An adaptive hybrid PID (proportional, integral, derivative) control scheme is proposed. For each joint two PID controllers have been implemented. The first is to cope with the joint elastici...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2018-12-01
|
| Series: | Ain Shams Engineering Journal |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2090447918300236 |