Adaptive PDPID with iterative learning for two-link flexible manipulator

Rasheedat M. Mahamood*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)


This paper presents a simple and effective adaptive PDPID with ILC control scheme. The adaptive control scheme is for tuning PD control gains for two-link flexible manipulator and the ILC is to improve the overall system performance. The manipulator is modelled using Lagrange and assume mode method. The adaptive control scheme continuously tunes PD controller gains depending on the error value without switching. The proposed control law is tested in Matlab/Simulink simulation environment and its performance is compared with PDPID, PDPIDILC and adaptive PDPID controllers. The effect of constant disturbance, sine wave disturbance and white noise disturbances on the proposed controller is extensively studied. The results show the effectiveness and robustness of the proposed adaptive PDPID controller with iterative learning.

Original languageEnglish
Title of host publicationProceedings of the World Congress on Engineering 2012, WCE 2012
EditorsA. M. Korsunsky, Len Gelman, Andrew Hunter, S. I. Ao, David WL Hukins
PublisherNewswood Limited
Number of pages6
ISBN (Print)9789881925220
Publication statusPublished - 2012
Externally publishedYes
Event2012 World Congress on Engineering, WCE 2012 - London, United Kingdom
Duration: 4 Jul 20126 Jul 2012

Publication series

NameLecture Notes in Engineering and Computer Science
ISSN (Print)2078-0958


Conference2012 World Congress on Engineering, WCE 2012
Country/TerritoryUnited Kingdom

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