Title :
Performance-oriented robust control for a class of mechanical systems: a study case
Author :
De Wit, C. Canudas ; Williamson, D. ; Bachmayer, R.
Author_Institution :
Lab. d´´Autom. de Grenoble, Martin d´´Heres, France
Abstract :
Control algorithms for mechanical systems (ie. industrial manipulators, robots, etc.) have been extensively studied in the last decade. We present an extension of the work of (Williamson and Canudas de Wit, 1993) to the PID+uNL control structure and we demonstrate the advantages of this approach in a simulation example that represents the second-order mechanical systems subject to state disturbances and control input saturation. Firstly we present the general control law and then present the application of these ideas to the case of the PID-control structure
Keywords :
feedback; matrix algebra; nonlinear control systems; robots; robust control; three-term control; PID+uNL control structure; PID-control structure; control algorithms; control input saturation; control law; feedback; industrial manipulators; matrix; mechanical systems; nonlinear PID control; performance-oriented robust control; robots; second-order mechanical systems; simulation example; state disturbances; study case; Asymptotic stability; Automatic control; Computer aided software engineering; Control nonlinearities; Mechanical systems; Noise robustness; Nonlinear filters; Robust control; Robust stability; State feedback;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.390682
