Title :
Position-speed-acceleration controller design
Author_Institution :
Université de Paris XII/IUT-Evry, Laboratoire de Robotique Industrielle, Evry, France
Abstract :
The letter shows the ability of the decoupling method to help the design of position-speed-acceleration controllers or hybrid force-position systems (PSA or F-PSA controllers) used in robotics.
Keywords :
acceleration control; control system synthesis; nonlinear control systems; position control; robots; velocity control; decoupling method; hybrid force-position systems; nonlinear control system synthesis; position-speed-acceleration controllers; robotics;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:19860260
