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Robotic manipulators are used in wide range of industrial applications. These are highly complex, multi-input multi-output and coupled systems requiring efficient control mechanism. This complexity is further enhanced as the number of links is increased. PID control is the most widely employed control scheme in the manufacturing industry but conventional tuning approaches for tuning PID gains do not...
This paper presents a comparative study of Backstepping controllers based on Barrier Lyapunov Function (BLF) and Quadratic Lyapunov Function (QLF) for stabilising the vertical displacement of a quarter car active suspension system. Hard constraints of the suspension system such as suspension travel, dynamic tyre load and actuator saturation are maintained in presence of uncertain sprung mass. Two...
Proportional — Integral — Derivative (PID) controller performs well for linear systems. For systems with nonlinearity, controller parameters need to be tuned every time for new operating point to obtain ‘local gain parameters’. These local gain parameters are not sufficient to get satisfactory performance at other operating points. In this paper a novel approach ‘Aggregate Fitness Function’ is presented...
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