DocumentCode :
702185
Title :
Digital implementation of non-integer control and its application to a two-link robotic arm
Author :
Valerio, Duarte ; Sa da Costa, Jose
Author_Institution :
Technical University of Lisbon, Instituto Superior Técnico, Department of Mechanical Engineering, GCAR, Av. Rovisco Pais, 1049-001 Lisboa, Portugal
fYear :
2003
fDate :
1-4 Sept. 2003
Firstpage :
2267
Lastpage :
2272
Abstract :
This paper assesses relative merits and drawbacks of different digital implementations of non-integer order controllers. Twenty-eight formulas are considered. Their frequency behaviours, together with those of discretised CRONE controllers, are compared to the ideal ones. All those formulas are used for implementing controllers found in the literature for a robotic arm. Backward finite difference formulas, Tustin formula and a zero order hold discretisation of a CRONE controller achieve the best results.
Keywords :
Approximation methods; Finite difference methods; Force; Gain; Robot kinematics; Time-domain analysis; CRONE; Non-integer order control; digital control; position / force hybrid control; robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
European Control Conference (ECC), 2003
Conference_Location :
Cambridge, UK
Print_ISBN :
978-3-9524173-7-9
Type :
conf
Filename :
7085304
Link To Document :
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