Design and implementation of adaptive controllers for robotic manipulator using digital signal processing (DSP) chips

• Main Authors: Teoh, Eam Khwang, Er, Meng Hwa, Wang, Dan Wei, Wang, Jianliang
• Other Authors: School of Electrical and Electronic Engineering
• Format: Research Report
• Published: 2008
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: http://hdl.handle.net/10356/2688
• Institution: Nanyang Technological University

The adaptive PID controller, self-tuning regulator and model reference adaptive control have been surveyed to evaluate their suitability. Based on these studies, the self-tuning regulator (STR) and the self-organising fuzzy logic controller (SOC) were chosen for real-time implementation.