Title :
A Cascaded Feedback Control Scheme for Trajectory Tracking of Robot Manipulator Systems with Actuator Dynamics
Author :
Kawamura, Sadao ; JUN, Jinwoo ; Kanaoka, Katsuya ; Ichii, Hiroki
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Shiga
Abstract :
In the case of control for nonlinear mechanical systems, which have complex actuator dynamics, the total system becomes high-order and nonlinear. Generally speaking, it is not easy to tune feedback gains for state feedback. In this paper, we propose a feedback control scheme for motion control of nonlinear high-order systems. We prove that the proposed scheme can improve the trajectory tracking performance of a robot manipulator system with actuator dynamics. Moreover, some simulation results demonstrate the effectiveness of the proposed control scheme
Keywords :
cascade control; manipulator dynamics; motion control; nonlinear control systems; position control; state feedback; actuator dynamics; cascaded feedback control; motion control; nonlinear high-order system; nonlinear mechanical system; robot manipulator system; state feedback; trajectory tracking; Actuators; Control systems; Feedback control; Manipulator dynamics; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Robots; State feedback; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281979