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• W1963670776 abstract "This paper presents the design, stability analysis and experimental validation of a computationally non-intensive, model-free, intelligent proportional-integral (iPI) controller for flexible joint manipulators. In order to show the performance of the iPI controller, it is compared with classical proportional-integral and proportional-integral-derivative controllers. Based on this comparison, the iPI-controlled system achieved a better than 60% tracking accuracy for both kane trajectory and sine input tracking. The iPI controller also significantly reduced transient swings in the flexible joint of the manipulator, when tracking a train of pulses. Moreover, the iPI controlled system successfully eliminated both disturbances and noise effects from the dynamics of the manipulator." @default.
• W1963670776 created "2016-06-24" @default.
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• W1963670776 date "2013-11-12" @default.
• W1963670776 modified "2023-10-16" @default.
• W1963670776 title "Intelligent proportional-integral (iPI) control of a single link flexible joint manipulator" @default.
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• W1963670776 doi "https://doi.org/10.1177/1077546313510729" @default.
• W1963670776 hasPublicationYear "2013" @default.
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