PDF subvariable control and its application to robot motion control

Document Type

Article

Publication Date

1-1-1989

Abstract

A method for determining the feedback coefficients of pseudo-derivative-feedback control is presented, along with applications of this control scheme. Simulations are performed for controlling a linear inertia system with disturbance loads and inertia variations, and for controlling a nonlinear system represented by a manipulator arm. The results show that PDF subvariable control quickly rejects disturbances and is insensitive to inertia variations. Also, the position responses do not exhibit overshoot or oscillation. Comparison with the results for proportional-plus-velocityfeedback control shows that the PDF approach is superior in response speed, robustness, and disturbance-handling ability. Experimental results from implementation of both control schemes to a revolute manipulator support this conclusion. © 1989 ASME.

Identifier

0024731357 (Scopus)

Publication Title

Journal of Dynamic Systems Measurement and Control Transactions of the ASME

External Full Text Location

https://doi.org/10.1115/1.3153075

e-ISSN

15289028

ISSN

00220434

First Page

452

Last Page

461

Issue

3

Volume

111

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