Adaptive Pole Placement Controllers For Robotic Manipulators With Predictive Action

Okyay Kaynak; Helmut Hoyer

doi:10.1117/12.942956

19 October 1987 Adaptive Pole Placement Controllers For Robotic Manipulators With Predictive Action

Okyay Kaynak, Helmut Hoyer

Proceedings Volume 0853, IECON '87: Industrial Applications of Control and Simulation; (1987) https://doi.org/10.1117/12.942956
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

This paper proposes two pole assignment control schemes for robotic manipulators, based on an anticipatory action. In one, the control objective is for the velocity tracking error to decay with a prespecified dynamics. In the other, a generalised cost function is minimized and the weighting factors in the cost function are determined to achieve desired closed loop pole locations for the tracking error. The prediction scheme used ensures a high degree of robustness against system-model mismatch as demonstrated by the simulation results presented.

Citation Download Citation

Okyay Kaynak and Helmut Hoyer "Adaptive Pole Placement Controllers For Robotic Manipulators With Predictive Action", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); https://doi.org/10.1117/12.942956

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