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Multivariable PID Controller For Robotic ManipulatorGains updated during operation to cope with changes in characteristics and loads. Conceptual multivariable controller for robotic manipulator includes proportional/derivative (PD) controller in inner feedback loop, and proportional/integral/derivative (PID) controller in outer feedback loop. PD controller places poles of transfer function (in Laplace-transform space) of control system for linearized mathematical model of dynamics of robot. PID controller tracks trajectory and decouples input and output.
Document ID
19900000308
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Seraji, Homayoun
(Caltech)
Tarokh, Mahmoud
(California Univ., San Diego)
Date Acquired
August 14, 2013
Publication Date
June 1, 1990
Publication Information
Publication: NASA Tech Briefs
Volume: 14
Issue: 6
ISSN: 0145-319X
Subject Category
Mathematics And Information Sciences
Report/Patent Number
NPO-17647
Accession Number
90B10308
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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