Modified PID Control of a Single-Link Flexible Robot

Neural Network Based Tuning Algorithm for MPID Control

“…The stability of the proposed controller had been studied previously in (Mansour et al, 2008). It was proved that the system is stable as long as K d ≥ 0.…”

“…Before discussing the NN based gain tuning method, the MPID controller (Mansour et al, 2008) is briefly introduced in sections 2 and 3. From the analysis of the single-link flexible arm shown in Fig.…”

“…A Modified PID controller (MPID) is proposed for controlling the tip position of the singlelink flexible manipulator (Mansour et al, 2008). This controller used three measurements to generate the control signal, the hub rotational angle θ(t), the tip deflection δ(L, t) , and the velocity of the hubθ(t).…”

“…The Modified PID (MPID) controller replaces the classical integral term of a PID controller with a vibration feedback term to affect the flexible modes of the beam in the generated control signal. The MPID controller is formed as follows (Mansour et al, 2008):…”

“…They provided in (Yazdizadeh et al, 2000) a selection criterion for specifying the fixed structural parameters as well as the adaptation laws for updating the adjustable parameters of the networks. A Modified PID control (MPID) is proposed to control a single-link flexible manipulator by Mansour et al (Mansour et al, 2008). The MPID control depends mainly on vibration feedback to improve the response of the flexible arm without the massive need of measurements.…”