Title :
Digital control of a robot manipulator using nonlinear feedback
Author :
Lee, Hong-gi ; Aravena, Jorge L.
Author_Institution :
Dept. of Control & Instrum. Eng., Chung-Ang Univ., Seoul, South Korea
Abstract :
The use of a new discrete feedback linearization technique in the control of robotic manipulators is considered. The approach includes the digital implementation as a constraint in the design. The feedback law is parameterized by the sampling period. The resulting discrete state feedback produces a loss of linearity one order of magnitude smaller than that produced by conventional techniques
Keywords :
control system synthesis; digital control; discrete time systems; feedback; linearisation techniques; nonlinear systems; robots; design; digital control; discrete feedback linearization; discrete state feedback; discrete time systems; manipulator; nonlinear control; robot; sampling period; Digital control; Hydrogen; Linear feedback control systems; Linear systems; Manipulators; Robustness; Sampling methods; Service robots; State feedback; State-space methods;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70631
