Tracking Control using Inverse System and Limiting Properties or Linear Optimal Control- Trajectory Tracking Control for a Robot Manipulator

Sakurai M.; Kobayashi N.

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Tracking Control using Inverse System and Limiting Properties or Linear Optimal Control- Trajectory Tracking Control for a Robot Manipulator

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摘要

A controller based on inverse system has no countermeasure against modeling error of a control object. On the other hand, one of limiting properties of the linear optimal control by letting a weighting matrix of cost functional tends to infinity has disturbance decoupling property. In this paper, a trajectory tracking control method is proposed by combining an approach based on inverse system with limiting properties of the linear optimal control. The proposed method is applied to trajectory tracking control of two links robot manipulator. Comparative numerical simulations and experiments confirm effectiveness on trajectory tracking control.

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《精密工学会誌》 |2000年第8期|1200-1205|共6页
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Sakurai M.; Kobayashi N.;
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正文语种日语
中图分类机械制造工艺;仪器、仪表;
关键词
target tracking control; inverse system; optimal control; limiting property; manipulator;

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专利

1. An application of optimal control theory to the trajectory tracking of rigid robot manipulators [J] . M. T. Grabbe, D. M. Dawson optimal control applications and methods . 1994,第4期

机译：An application of optimal control theory to the trajectory tracking of rigid robot manipulators
2. Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking [J] . Hu Hongjun, Xiao Shungen, Shen Haikuo Mathematical Problems in Engineering: Theory, Methods and Applications . 2021,第26期

机译：Modified Linear Active Disturbance Rejection Control for Uncertain Robot Manipulator Trajectory Tracking
3. New Findings in Robotics Described from South China University of Technology (From Zeroing Dynamics to Zeroing-Gradient Dynamics for Solving Tracking Control Problem of Robot Manipulator Dynamic System with Linear Output or Nonlinear Output) [J] . Robotics & Machine Learning Daily News . 2023,第13期

机译：New Findings in Robotics Described from South China University of Technology (From Zeroing Dynamics to Zeroing-Gradient Dynamics for Solving Tracking Control Problem of Robot Manipulator Dynamic System with Linear Output or Nonlinear Output)
4. 基于模糊回归神经网络的机器人间接自适应控制（Trajectory Tracking Indirect Adaptive Control Of Robotic Manipulators Based onFuzzy Recurrent Neural Networks） [C] . Chinese Control Conference vol.2; 20040810-13; Wuxi(CN) . 2004

机译：基于模糊回归神经网络的机器人间接自适应控制（Trajectory Tracking Indirect Adaptive Control Of Robotic Manipulators Based onFuzzy Recurrent Neural Networks）
5. Control and Dynamic Manipulability of a Dual-arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality =虚拟现实中用于康复训练的双臂/手机器人外骨骼系统(EXO-UL8)的控制和动力可操作性 [D] . Shen, Yang. 2019

机译：Control and Dynamic Manipulability of a Dual-arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality =虚拟现实中用于康复训练的双臂/手机器人外骨骼系统(EXO-UL8)的控制和动力可操作性
6. Optimal control of the N policy M/G/1 queueing system with server breakdowns and general startup times [O] . Wang, K.H., Wang, T.Y., Pearn, W.L., 2014

机译：Optimal control of the N policy m/G/1 queueing system with server breakdowns and general startup times
7. Stability analysis of multiple-robot control systems [R] . Wen, John T., Kreutz, Kenneth 1989

机译：stability analysis of multiple-robot control systems

Tracking Control using Inverse System and Limiting Properties or Linear Optimal Control- Trajectory Tracking Control for a Robot Manipulator

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