DocumentCode :
681141
Title :
Homogeneous integral finite-time control and its application to robot control
Author :
Nakamura, Hisakazu
Author_Institution :
Department of Electrical Engineering, Tokyo University of Science, Chiba, Japan
fYear :
2013
fDate :
14-17 Sept. 2013
Firstpage :
1884
Lastpage :
1889
Abstract :
Homogeneous finite-time control attracts much attention recent years in nonlinear control theory. However, the structure of the control is more complicated than the conventional proportional-integral-derivative (PID) control. In this paper, we propose homogeneous integral finite-time controllers and a homogeneous finite-time PID controller having a simple control structure for a class of linear systems. We apply the proposed controller to an angular position control problem of a robot manipulator. The effectiveness of the proposed controller is confirmed by comparison with conventional PID and previously proposed finite-time PID controllers.
Keywords :
Approximation methods; Convergence; Differential equations; Manipulators; PD control; Torque; Finite-time control; PID control; robot control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE Annual Conference (SICE), 2013 Proceedings of
Conference_Location :
Nagoya, Japan
Type :
conf
Filename :
6736309
Link To Document :
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