Direct adaptive hybrid Pd-Pid controller for two-link flexible robotic manipulator

Rasheedat M. Mahamood*

*Corresponding author for this work

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

7 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationProceedings of the World Congress on Engineering and Computer Science 2012
EditorsCraig Douglas, Jon Burgstone, W. S. Grundfest, S. I. Ao
PublisherNewswood Limited
Number of pages6
ISBN (Electronic)9789881925244
ISBN (Print)9789881925190
Publication statusPublished - 26 Oct 2012
Externally publishedYes
Event2012 World Congress on Engineering and Computer Science, WCECS 2012 - San Francisco, United States
Duration: 24 Oct 201226 Oct 2012

Publication series

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


Conference2012 World Congress on Engineering and Computer Science, WCECS 2012
Country/TerritoryUnited States
CitySan Francisco

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