Constrained neural adaptive PID control for robot manipulators

• Published in: Journal of the Franklin Institute Vol. 357; no. 7; pp. 3907 - 3923
• Main Author: Rahimi Nohooji, Hamed
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.05.2020; Elsevier Science Ltd
• Subjects: Adaptive control; Computer simulation; Constraint modelling; Controllers; Disturbances; Dynamic models; Dynamical systems; Feedback control; Liapunov functions; Neural networks; Nonlinear control; Nonlinear systems; Numerical controls; Proportional integral derivative; Radial basis function; Robot arms; Robot control; Robotics; Signal processing; Stability augmentation; System dynamics

The problem of designing an analytical gain tuning and stable PID controller for nonlinear robotic systems is a long-lasting open challenge. This problem becomes even more intricate if unknown system dynamics and external disturbances are involved. This paper presents a novel adaptive neural-based c...