Design and Implementation of a Smith Estimator-based PID Controller for Single-linkRobotic Manipulator with time delay

The paper deals with the design and experimentalevaluation of a Smith estimator-based proportionalderivative-integral (PID) controller for a single-linkrobotic manipulator. The main idea is the identification ofsystem transfer function with time-delay, that is used topredict the actual delay-free output of the system withsmith estimator. Therefore, the PID controller parameterscan be determined according to the delay-free part of themodel. The proposed control method performance isevaluated through different experiments. The obtainedresults indicate a good tracking performance for therobotic manipulator under the designed controller in thepresence of DC motor delay as the system actuator

Keywords:

Time-delay system , PID controller , Smithpredictor , single link robotic manipulator