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Comparison between ultra-local model and auto-Tuning pid controls strategies applied to the redundant manipulator robot for several inputs

Zribi, S.; Boussetta , W.; Tlijani, H.; Knani, J.; Puig, V.
Type of activity
Presentation of work at congresses
Name of edition
STA 2017 - 18th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering
Date of publication
Presentation's date
Book of congress proceedings
2017 18th international Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2017 - Proceedings
First page
Last page
https://doi.org/10.1109/STA.2017.8314919 Open in new window
https://ieeexplore.ieee.org/document/8314919 Open in new window
This paper deals with the development of an auto-Tuning PID and an ultra-local model controls strategies applied to a redundant manipulator robot with a load on its endpoint. This system is dynamically modeled using finite element and Euler-Lagrange approaches. The proposed approach of ultra-local model control consists of estimating the ultra-local model parameter via an algebraic derivation approach. In order to validate its efficiency towards the flexibility's structure, the ultra-local model...
Algebraic derivation, Auto-Tuning pid, Auto-tuning PID controllers, Autotuning, Euler-Lagrange, Hyperbolic profile, Hyperbolic profiles, Industrial manipulators, Its efficiencies, Local model, Manipulator mechanism, Process control, Redundant, Redundant manipulators, Three term control systems, Ultra-local model control Automation
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems


  • Zribi, Sameh  (author and speaker )
  • Boussetta, W.  (author and speaker )
  • Tlijani, Hatem  (author and speaker )
  • Knani, Jilani  (author and speaker )
  • Puig Cayuela, Vicenç  (author and speaker )