DocumentCode
358915
Title
Manipulator path control using SDRE
Author
Innocenti, Mario ; Baralli, Francesco ; Salotti, Filippo ; Caiti, Andrea
Author_Institution
Dept. of Electr. Syst. & Autom., Pisa Univ., Italy
Volume
5
fYear
2000
fDate
2000
Firstpage
3348
Abstract
A controller synthesis based on state dependent Riccati equation methods is presented. The methodology is applied to the path control of a slow moving robot manipulator, for the purpose of method validation. Due to hardware limitations, not all the manipulator joints were controlled, and the resulting gains are obtained off-line using numerical simulation on a model identified via least squares techniques. Satisfactory results were obtained as compared to standard PID and computed torque control methods
Keywords
Riccati equations; control system synthesis; least squares approximations; manipulator dynamics; nonlinear systems; position control; Riccati equation; controller synthesis; least squares; nonlinear systems; path control; robot manipulator; simulation; Automatic control; Computer science; Control system synthesis; Hardware; Manipulators; Nonlinear equations; Numerical simulation; Riccati equations; Robotics and automation; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.879186
Filename
879186
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