Title :
A comparative evaluation of adaptive, robust and classical feedback controllers used in unconstrained trajectory tracking for robot manipulators
Author :
Erlic, Mile ; Lu, W.-S.
Author_Institution :
Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada
Abstract :
Four controllers used in the tracking of a demanding fifth order polynomial trajectory were compared. It was found that the adaptive controller outperforms the other controllers. Good performance was also achieved using the compared torque method. The proportional-derivative controller was found to perform poorly for velocity tracking. The approximate dynamics controller gave fair overall performance. The adaptive algorithm is computationally demanding. However, with the floating point digital signal processing products available today this issue is no longer a limiting factor
Keywords :
adaptive control; industrial robots; torque control; two-term control; velocity control; adaptive controller; approximate dynamics controller; classical feedback controllers; comparative evaluation; compared torque method; fifth order polynomial trajectory; floating point digital signal processing; model reference adaptive control; proportional-derivative controller; robot manipulators; robust proportional derivative controllers; unconstrained trajectory tracking; velocity tracking; Adaptive control; Feedback; PD control; Polynomials; Programmable control; Proportional control; Robustness; Torque; Trajectory; Velocity control;
Conference_Titel :
Circuits and Systems, 1990., Proceedings of the 33rd Midwest Symposium on
Conference_Location :
Calgary, Alta.
Print_ISBN :
0-7803-0081-5
DOI :
10.1109/MWSCAS.1990.140805