Title: Adaptive PID control based on exponential forgetting recursive least squares for 2DOF robotic manipulator

Authors: Meena E. Girgis; Nasr A. Elkhateeb

Addresses: Department of Electronics and Electric Communications Engineering, Cairo University, Giza, Egypt ' Modern Academy for Engineering and Technology, Cairo, Egypt

Abstract: This paper presents a new adaptive proportional-integral-derivative (PID) controller for improving the stability and performance of a 2DOF robotic manipulator. Robotic arm manipulators have complex nonlinear dynamics that can cause stability and tracking issues. Moreover, the control process can be rigid due to the high coupling between the position and acceleration of the robotic arm and joint torques. Therefore, the paper proposes the exponential forgetting recursive least squares (EFRLS) algorithm for tuning the PID gains. The EFRLS algorithm is developed using Lyapunov stability analysis to ensure stability while adapting the PID gains. The adaptive PID based on the EFRLS algorithm offers a stable and robust tracking performance of the 2DOF robotic manipulator in the presence of disturbance effects.

Keywords: adaptive; PID-control; recursive-least-squares; 2DOF-robotic-manipulator.

DOI: 10.1504/IJMIC.2024.144033

International Journal of Modelling, Identification and Control, 2024 Vol.45 No.4, pp.189 - 199

Received: 07 Feb 2024
Accepted: 05 Jun 2024
Published online: 21 Jan 2025 *

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