Autotuning of PID Controller for a Non-planar Manipulator

版本 1.0.0 (81.4 KB) 作者: Rzi Abbas
Tune PID controller automatically for a 3 DOF non-planar manipulator and simulate it by giving step commands at all 3 joints.
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更新时间 2022/6/27

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This file (DOF3_RRR_Start.m) will first load the Rigid Body Tree object of the robot model from the SimScape model file (DOF3_RRR.slx). After that an slTuner object will be generated that will define the input and output of the system and later on will be tuned using H-infinity based optimization routine. Once tuning is complete the PID parameters will be written in the corresponding blocks and the manipulator will be simulated (DOF3_RRR_PID.slx).

引用格式

Rzi Abbas (2024). Autotuning of PID Controller for a Non-planar Manipulator (https://www.mathworks.com/matlabcentral/fileexchange/114195-autotuning-of-pid-controller-for-a-non-planar-manipulator), MATLAB Central File Exchange. 检索来源 .

MATLAB 版本兼容性
创建方式 R2021b
兼容 R2019a 到 R2022a 的版本
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版本 已发布 发行说明
1.0.0