Title :
A novel evolutionary PD control and application for trajectory tracking
Author :
Ouyang, P.R. ; Zhang, W.J.
Author_Institution :
Dept. of Mech. Eng., Saskatchewan Univ., Saskatoon, Sask., Canada
Abstract :
In this paper, a novel evolutionary PD (EPD) control to improve the tracking performance is proposed and applied to the trajectory tracking of a closed-loop robot manipulator. The EPD control can incorporate the dynamic information of manipulator in a very plain way without requiring the knowledge of the robot dynamics, and it is simple and effective for the trajectory tracking. Comparison of the EPD control with some other PD-based controls for several different structures of manipulators is made. Simulation study demonstrates that the EPD control is promising in robot manipulator applications for trajectory tracking compared with the PD/NPD controls.
Keywords :
PD control; closed loop systems; manipulator dynamics; nonlinear control systems; position control; tracking; closed-loop robot manipulator; evolutionary PD control; nonlinear PD control; robot dynamics; trajectory tracking; Control systems; Error correction; Manipulator dynamics; Orbital robotics; PD control; Robot control; Torque control; Tracking; Trajectory; Velocity control;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1234967
