A Self-learning Nonlinear Variable Gain Proportional
Derivative (PD) Controller in Robot Manipulators

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A Self-learning Nonlinear Variable Gain Proportional Derivative (PD) Controller in Robot Manipulators

This paper proposes a nonlinear variable gain Proportional-Derivative (PD) controller that exhibits self-constructing and self-learning capabilities. In this method, the conventional linear PD controller is augmented with a nonlinear variable PD gain control signal using a dynamic structural netw...

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Bibliographic Details
Main Authors:	Kiong, Loo Chu, Rajeswari, Mandava, Kiong, Wong Eng, Rao, M. V. C.
Format:	Article
Language:	English English
Published:	Universiti Putra Malaysia Press 2004
Online Access:	http://psasir.upm.edu.my/id/eprint/3621/ http://psasir.upm.edu.my/id/eprint/3621/1/A_Self-learning_Nonlinear_Variable_Gain_Proportional.pdf

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