Experimental Research On The Self-Tuning PDF Control System

The major concern of this paper focuses on experimental studyof a new control scheme-the on-line self-tuningPDF(Pseudo-Derivative-Feedback)algorithm. A PC-586 computer-based controller was built to achieve angle-motion control of the manipulator through the I/O (Input/Output) adapter card. The result from experiment was analyzed and discussed thoroughly, showing the feasibility of the theory of on-line self-tuning PDF control in practice.