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WCE
2007

An Adaptive Cross-EntropyTuning of the PID Control for Robot Manipulators

9 years 3 months ago
An Adaptive Cross-EntropyTuning of the PID Control for Robot Manipulators
— This paper proposes a population based adaptive tuning for dynamic position control of robot manipulators. The dynamic behavior of a robot manipulator is highly nonlinear, and the positional control is conventionally achieved by inverse dynamics feedforward and PID feedback controllers. The proposed method tunes the PID controller parameters using cross-entropy optimization to minimize the error in tracking a repeated desired trajectory in real-time. The stability of the system is granted by switching the inappropriate settings to a stable default using a real-time cost evaluation function. The proposed tuning method is tested on a two-joint planar manipulator, and on a planar inverted pendulum. The test results indicated that the proposed method improves the settling time and reduces the position error over the repeated paths.
Mehmet Bodur
Added 07 Nov 2010
Updated 07 Nov 2010
Type Conference
Year 2007
Where WCE
Authors Mehmet Bodur
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