DocumentCode :
3420798
Title :
Minimum entropy approach for robot manipulator
Author :
Skaf, Zakwan ; AI-Bayati, Ahmad ; Wang, Hong
Author_Institution :
Control Syst. Center, Univ. of Manchester, Manchester, UK
fYear :
2011
fDate :
12-15 Dec. 2011
Firstpage :
2475
Lastpage :
2480
Abstract :
In this paper, a new algorithm for an adaptive PI controller for nonlinear systems subject to stochastic non-Gaussian disturbance is studied. The minimum entropy control is applied to decrease the closed-loop tracking error on an ILC basis. The key issue here is to divide the control horizon into a number of equal time intervals called batches. Within each interval, there are a fixed number of sample points. The design procedure is divided into two main algorithms, within each batch and between any two adjacent batches. A D-type ILC law is employed to tune the PI controller coefficients between two adjacent batches. However, within each batch, the PI coefficients are fixed. A sufficient condition is established to guarantee the stability of the closed-loop system. An analysis of the ILC convergence is carried out. Two-link robot manipulator example is included to demonstrate the use of the control algorithm, and satisfactory results are obtained.
Keywords :
PI control; closed loop systems; manipulators; minimum entropy methods; nonlinear control systems; stability; stochastic systems; tracking; D-type ILC law; ILC convergence; PI coefficients; adaptive PI controller; adjacent batches; closed-loop system stability; closed-loop tracking error; equal time intervals; minimum entropy approach; nonlinear system; stochastic nonGaussian disturbance; two-link robot manipulator; Closed loop systems; Entropy; Noise; Robots; Stochastic systems; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
ISSN :
0743-1546
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
Type :
conf
DOI :
10.1109/CDC.2011.6160199
Filename :
6160199
Link To Document :
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