منابع مشابه
Discrete-time repetitive optimal control: Robotic manipulators
This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...
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This paper presents a new design method for repetitive-control systems based on two-dimensional (2D) system theory and optimal control. First, a 2D model is established that describes the control action within a repetition period and the learning process between periods. Next, the problem of designing a repetitive controller is formulated as an optimization problem for the 2D model. Then, one-d...
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Repetitive controllers are generally applied to reject periodic disturbances and to track periodic reference signals with a known period. Their design is based on The Internal Model Principle, proposed by Francis and Wonham. This paper describes a new finite-dimensional SISO repetitive controller for two different classes of nonlinear plants. Simulation results show asymptotic tracking of the p...
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For cases in which perfect model following is not possible for a particular desired model, a class of candidate models is defined that can be followed perfectly by the given plant. A candidate model that most closely matches the dynamics of the desired model is then determined through constrained parameter optimization. The result is perfect model following of a model that has an eigenstructure...
متن کاملOptimal discrete-time control of robot manipulators in repetitive tasks
Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1989
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.55.2792