Data-based PID control of flexible joint robot using adaptive safe experimentation dynamics algorithm

This paper proposes the data-based PID controller of flexible joint robot based on adaptive safe experimentation dynamics (ASED) algorithm. The ASED algorithm is an enhanced version SED where updated tuning variable modified to adapt change objective function. By adopting term equation SED, it expected that convergence accuracy can be further improved. effectiveness verified tune robot. In this control problem, two controllers are utilized both rotary angle tracking and vibration performance proposed assessed in terms trajectory angular motion, reduction statistical analysis pre-defined simulation results showed able produce better than conventional method.