A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation

• Main Authors: Nik Mohd Zaitul Akmal, Mustapha, Mohd Helmi, Suid, Raja Mohd Taufika, Raja Ismail, Ahmad Nor Kasruddin, Nasir, Mohd Ashraf, Ahmad, Mohd Zaidi, Mohd Tumari
• Format: Conference or Workshop Item
• Language: English; English
• Published: 2018
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/23227/1/119.%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf; http://umpir.ump.edu.my/id/eprint/23227/2/119.1%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf; http://umpir.ump.edu.my/id/eprint/23227/

This paper presents a data-driven PID control scheme based on Normalized Simultaneous Perturbation Stochastic Approximation (SPSA). Initially, an unstable convergence of conventional SPSA is illustrated, which motivate us to introduce its improved version. Here, the conventional SPSA is modified by...