The Controller of Automatic Adapted PID Which Was Applied in The Fixed Single-arm Manipulator
ABSTRACT: we proposed a adaptive PID controller with gravity compensation for trajectory following of manipulator – wheeled mobile robot to deal with its complicated dynamics.The controller use people’s experience and knowledge to tune PID parameters inreal time for improved control quality and adaptability.Simulation result verifies thai this method has better trajectory following precision and bettet rejection of disturbance.
Keyword: Manipulator;adaptive PID control;MATLAB simulation