An Adaptive Robust PID Controller Design for a Single Motorized Robotic Arm
DOI:
https://doi.org/10.31272/jeasd.2103Keywords:
Adaptive PID, DC motor, Robust PID, Single robot arm, Tuned methodAbstract
A robotic arm can be defined as a programmable robot manipulator that functions similarly to a human arm. In general, a DC motor precisely moves the robot arm to a desired angular position in accordance with a given input; hence, a suitable control scheme must be used. This study examines three control methodologies for a Single Motorized Robotic Arm (SMRA) with a single degree of freedom (DoF): Robust PID (RPID), Adaptive Robust PID (ARPID), and a newly formulated Modified Adaptive Robust PID (MARPID). The suggested MARPID takes the strong points of RPID and adds a better adaptation law to make the system respond faster and lower the steady-state error. The performance of the RPID, ARPID, and MARPID controllers has been analyzed and compared using MATLAB and Simulink version 2015a. Simulation results of linear and nonlinear input showed that the developed MARAPID outperformed RPID and ARPID compared to the RPID or APID controllers.
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