Title :
Advanced nonlinear robotic control using digital signal processing
Author :
Bortoff, Scott A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Toronto Univ., Ont., Canada
fDate :
2/1/1994 12:00:00 AM
Abstract :
This paper presents a technique for the construction of the pseudolinearizing controller. The new method, intimately related to gain scheduling, uses splines to approximate functions which are often impossible to compute in practice. The Acrobot is used to illustrate the design technique, and experimental results are presented which support assertions of computational efficiency and high performance
Keywords :
control system synthesis; digital control; microcomputer applications; nonlinear control systems; robots; splines (mathematics); Acrobot; digital signal processing; gain scheduling; nonlinear robotic control; pseudolinearizing controller; splines; Automatic control; Computational complexity; Digital control; Digital signal processing; Force control; Linear feedback control systems; Manipulator dynamics; Processor scheduling; Robot control; State feedback;
Journal_Title :
Industrial Electronics, IEEE Transactions on
