A Data-Driven PID Controller For Flexible Joint Manipulator Using Normalized Simultaneous Perturbation Stochastic Approximation

• Main Authors: Mustapha, Nik Mohd Zaitul Akmal, Suid, Mohd Helmi, Raja Ismail, Raja Mohd Taufika, Nasir, Ahmad Nor Kasruddin, Ahmad, Mohd Ashraf, Mohd Tumari, Mohd Zaidi, Jui, Julakha Jahan
• Format: Article
• Language: English
• Published: Penerbit Universiti Teknikal Malaysia Melaka 2019
• Online Access: http://eprints.utem.edu.my/id/eprint/25191/2/SPSA%20FLEXIBLE%20JOINT.PDF; http://eprints.utem.edu.my/id/eprint/25191/; https://jamt.utem.edu.my/jamt/article/view/5514/3789

This paper presents a data-driven PID controller 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. The unstable convergence always happened in the...