An optimal PID tuning method for a two-link manipulator via an exact penalty function method

Abstract

In this paper, an optimal PID tuning method is proposed for a class of two-link manipulators. In particular, the control specifications of the manipulators are considered. By modeling the control specifications into state constraints, the optimal PID tuning problem is converted to an optimal parameters selection problem with state constraints. An exact penalty function based method is then utilized to handle the state constraints. The superior of the proposed method over an existing method is verified by carrying out an numerical example.