How to make an adaptive PID controller?

The PID program I write currently works fine with the DC motor of our robot. Considering that the friction efficient and mass may vary(we need to load/unload weights to the robot), I am thinking about improving the system by using an adaptive PID controller. Does anyone have some sample code/algorithm I can refer to? I am new to this type of PID so simple tutorials are welcomed too.

Thanks in advance!

Answer 1

[Birdman]

Check the following links:

https://www.mathworks.com/matlabcentral/fileexchange/44416-simple-adaptive-control-example

https://www.mathworks.com/matlabcentral/fileexchange/18061-result-adaptive-pid-control-improves-laserscanner-positioning