Title :
Control of underactuated manipulators using variable period deadbeat control
Author :
Mita, Tsutomu ; Nam, Taek Kun
Author_Institution :
Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol., Japan
Abstract :
A new digital control method for a time varying sampled data system, called a variable period deadbeat control, is proposed to control high order nonholonomic chained systems with drift terms. This control law has a potential to avoid an excessive overshoot to prevent the trajectories close to the singular manifold of the transformation needed to obtain the chained forms. The approach described is applied to the control of a three link underactuated manipulator.
Keywords :
digital control; manipulator dynamics; nonlinear control systems; periodic control; sampled data systems; time-varying systems; transient response; drift terms; nonholonomic chained systems; sampled data system; time varying system; underactuated manipulator; variable period deadbeat control; Acceleration; Control systems; Digital control; Feedback control; Manipulators; Mechanical systems; Mechanical variables control; Sampling methods; Strain control; Time varying systems;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933036
