Title :
Controller design method for a nonlinear system with an input constraint and its application to a robot arm
Author :
Katoh, Kenichi ; Kidane, Nami ; Nakamura, Hisakazu ; Nishitani, Hirokazu
Author_Institution :
Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol.
Abstract :
In this paper, we propose a controller for a nonlinear system with an input constraint depending on the state. The proposed controller is based on Kidane´s controllers. Then, if system has one input, we can tune optimality and robustness easily. We apply the proposed controller to single-link robot arm in order to verify the effectiveness of the proposed controller
Keywords :
control system synthesis; dexterous manipulators; nonlinear control systems; Kidane controllers; controller design; input constraint; nonlinear system; single-link robot arm; Control systems; Design methodology; Equations; Lyapunov method; Nonlinear control systems; Nonlinear systems; Optimal control; Regulators; Robots; Sliding mode control;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507323
