Generalized proportional integral control of rigid robots

Author

Hernández, Victor M. ; Sira-Ramierz, H.

Author_Institution

Departamento de Ing. E1ectrica, Seccion Mecatronica, CINVESTAV-IPN, Mexico City, Mexico

Volume

2

fYear

2002

fDate

10-13 Dec. 2002

Firstpage

2050

Abstract

In this article, a generalized proportional integral (GPI) control scheme is presented for the stabilization and robust rest-to-rest trajectory tracking in rigid robots. The feedback scheme only requires measurement of joints angular position and it is shown to be robust with respect to constant but unknown torque disturbances. Controller gains are chosen in such a way they have to suitably place eigenvalues of a matrix, i.e., gain selection is similar to a linear design problem. Some simulations are presented to verify the good performance.

Keywords

angular measurement; eigenvalues and eigenfunctions; feedback; manipulators; matrix algebra; robust control; two-term control; GPI control scheme; feedback scheme; gain selection; generalized PI control; generalized proportional integral control; joint angular position measurement; linear design problem; matrix eigenvalue place; rigid robots; robust rest-to-rest trajectory tracking; stabilization; torque disturbances; Eigenvalues and eigenfunctions; Feedback; Pi control; Position measurement; Proportional control; Robot control; Robust control; Robustness; Torque measurement; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7516-5

Type

conf

DOI

10.1109/CDC.2002.1184831

Filename

1184831