Open AccessHybrid tuning of a robotic manipulator controller with a database
Author(s) -
Ruslan T. Galemov,
Gennadiy B. Masalsky
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1399/4/044100
Subject(s) - computer science , controller (irrigation) , adaptation (eye) , control theory (sociology) , process (computing) , control engineering , state (computer science) , adaptive control , control (management) , engineering , artificial intelligence , algorithm , operating system , physics , optics , agronomy , biology
In this paper a method of adaptation with hybrid tuning of a robotic manipulator control system with PD controller is considered. The adaptations of the controller parameters and compensating signal are carried out online and independent using modified simplex search algorithms. To increase the performance of the adaptive control system, the values obtained during adaptation process are stored in a database. The database stores these values and the system state, at which they were obtained during the training phase, and in the control phase the database returns the values according to the current state of the system. Efficiency of the proposed methods is verified by simulations. The results show advantage of the adaptive control system with the database.