@inproceedings{a1204d18cb5c4299bc0591e12a10278f,
title = "Direct adaptive hybrid Pd-Pid controller for two-link flexible robotic manipulator",
abstract = "A simple and efficient adaptive control scheme is developed to automatically tune PD control gains for two-link flexible manipulator. The manipulator is modeled using Lagrange and assume mode method. The adaptive algorithm is developed for hybrid PD-PID controller in which the PD controller is for rigid body motion control and the PID is for end-point vibration suppression. The simple adaptive control scheme continuously tunes only the proportional and derivative gains of the PD controller depending on the error value without switching. The proposed control law is tested in Matlab/simulink simulation environment. The effect of white noise and rectangular wave disturbance on the proposed controller is extensively studied. Also, effect of changing input signal is also investigated. Performance of the proposed controller is compared with hybrid PD-PID controller in terms of input tracking and vibration suppression. The results show the effectiveness of the proposed direct adaptive hybrid PD-PID controller.",
keywords = "Controls, Flexible manipulator systems, PD control, PID control",
author = "Mahamood, {Rasheedat M.}",
note = "Funding information: This work was supported by the Schlumberger Foundation Faculty for the Future (FFTF). ; 2012 World Congress on Engineering and Computer Science, WCECS 2012 ; Conference date: 24-10-2012 Through 26-10-2012",
year = "2012",
month = oct,
day = "26",
language = "English",
isbn = "9789881925190",
series = "Lecture Notes in Engineering and Computer Science",
publisher = "Newswood Limited",
pages = "1127--1132",
editor = "Craig Douglas and Jon Burgstone and Grundfest, {W. S.} and Ao, {S. I.}",
booktitle = "Proceedings of the World Congress on Engineering and Computer Science 2012",
address = "Hong Kong",
}