Intelligent self-tuning controllers for robot manipulators

Research output: Contribution to conferencePaperpeer-review


The design problem of an intelligent self-tuning controller, characterized by a two-layer hierarchical structure, is addressed. The layers are organized according to their functions and goals. The control level is implemented as a self-tuning adaptive controller, where a variety of control laws and identification methods exist as candidates for the controller and identification portions, respectively. Integration of a controller-estimator pair is carried out according to the guidelines provided by the coordination level. The organization level, implemented as a Petri network, supervises the control level, serves as an interface between the user and the system, and resolves several issues which arise from the coordination process between the two layers.

Original languageEnglish (US)
Number of pages4
StatePublished - 1990
EventProceedings of the 1990 IEEE International Conference on Systems Engineering - Pittsburgh, PA, USA
Duration: Aug 9 1990Aug 11 1990


OtherProceedings of the 1990 IEEE International Conference on Systems Engineering
CityPittsburgh, PA, USA

ASJC Scopus subject areas

  • General Engineering


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