A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators

• Main Authors: Kiong, Loo Chu, Rajeswari, Mandava, Kiong, Wong Eng, Rao, M. V. C.
• Format: Article
• Language: English; English
• Published: Universiti Putra Malaysia Press 2004
• Online Access: http://psasir.upm.edu.my/id/eprint/3621/1/A_Self-learning_Nonlinear_Variable_Gain_Proportional.pdf; http://psasir.upm.edu.my/id/eprint/3621/

This paper proposes a nonlinear variable gain Proportional-Derivative (PD) controller that exhibits self-constructing and self-learning capabilities. In this method, the conventional linear PD controller is augmented with a nonlinear variable PD gain control signal using a dynamic structural netw...