Title :
L-Q design of PID controllers for robot arms
Author :
Luo, G.L. ; Saridis, G.N.
Author_Institution :
Rensselaer Polytechnic Institute, Troy, NY, USA
fDate :
9/1/1985 12:00:00 AM
Abstract :
An explicit solution for the robot arm controller, optimal in the linear quadratic sense, is obtained. Based on this formulation, a PID controller with acceleration feedback is proposed which is computationally efficient and robust relative to variations in the dynamic model and external disturbances.
Keywords :
Feedback systems; Manipulators; Optimal control, linear systems; Proportional control, linear systems; Acceleration; Control systems; Manipulator dynamics; Optimal control; Performance analysis; Riccati equations; Robot control; Robot sensing systems; Three-term control; Torque control;
Journal_Title :
Robotics and Automation, IEEE Journal of
DOI :
10.1109/JRA.1985.1087018
