An Adaptive Cross-EntropyTuning of the PID Control for Robot Manipulators

  title={An Adaptive Cross-EntropyTuning of the PID Control for Robot Manipulators},
  author={Mehmet Bodur},
  booktitle={World Congress on Engineering},
This paper proposes a population based adaptive tuning for dynamic position control of robot manipulators. The dynamic behavior of a robot manipulator is highly nonlinear, and the positional control is conventionally achieved by inverse dynamics feedforward and PID feedback controllers. The proposed method tunes the PID controller parameters using cross-entropy optimization to minimize the error in tracking a repeated desired trajectory in real-time. The stability of the system is granted by… CONTINUE READING


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