DocumentCode
2262018
Title
Properties of adaptive, optimal and preview controllers based on MVC and LQS optimal controller application to robotic manipulator
Author
Negm, M.M.M. ; Kheireldin, A.F.
Author_Institution
Ain-Shams Univ., Cairo
fYear
1991
fDate
25-28 Mar 1991
Firstpage
323
Abstract
The designs of adaptive MVC (minimum variance controller), LQG and LQ optimal controllers for robotic manipulator motion control are derived. A successful application utilizing a time invariant prediction type Kalman filter for robotic motion control is proposed. The effectiveness of the preview feed-forward controller compared to the LQG and LQ optimal controllers is investigated. The properties of the adaptive MVC, LQG, and LQ optimal controllers are demonstrated through computer simulation results and the structures of their control laws
Keywords
Kalman filters; adaptive control; filtering and prediction theory; optimal control; position control; predictive control; robots; LQS optimal controller; adaptive minimum variance controller; motion control; preview controllers; robotic manipulator; time invariant prediction type Kalman filter;
fLanguage
English
Publisher
iet
Conference_Titel
Control 1991. Control '91., International Conference on
Conference_Location
Edinburgh
Print_ISBN
0-85296-509-5
Type
conf
Filename
98469
Link To Document