About this document
Real-Time PID Tuning for Robots by Mauricio Ramos is a document available to read on EtoBox.
The document proposes a real-time population-based optimization method for tuning the PID controller parameters of robot manipulators to minimize position error during trajectory tracking. It applies two population-based search algorithms, Cross-Entropy optimization and Differential Evolutionary optimization, to tune the PID gains in real-time. Testing on a two-joint manipulator and inverted pendulum showed the method improves settling time and reduces position error over repeated paths compared to conventi
- Author
- Mauricio Ramos
- Language
- EN