A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation
This paper presents a data-driven PID control scheme based on Normalized Simultaneous Perturbation Stochastic Approximation (SPSA). Initially, an unstable convergence of conventional SPSA is illustrated, which motivate us to introduce its improved version. Here, the conventional SPSA is modified by...
| Main Authors: | , , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2018
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/23227/ http://umpir.ump.edu.my/id/eprint/23227/1/119.%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf http://umpir.ump.edu.my/id/eprint/23227/2/119.1%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf |