DocumentCode
1077557
Title
Advanced nonlinear robotic control using digital signal processing
Author
Bortoff, Scott A.
Author_Institution
Dept. of Electr. & Comput. Eng., Toronto Univ., Ont., Canada
Volume
41
Issue
1
fYear
1994
fDate
2/1/1994 12:00:00 AM
Firstpage
32
Lastpage
39
Abstract
This paper presents a technique for the construction of the pseudolinearizing controller. The new method, intimately related to gain scheduling, uses splines to approximate functions which are often impossible to compute in practice. The Acrobot is used to illustrate the design technique, and experimental results are presented which support assertions of computational efficiency and high performance
Keywords
control system synthesis; digital control; microcomputer applications; nonlinear control systems; robots; splines (mathematics); Acrobot; digital signal processing; gain scheduling; nonlinear robotic control; pseudolinearizing controller; splines; Automatic control; Computational complexity; Digital control; Digital signal processing; Force control; Linear feedback control systems; Manipulator dynamics; Processor scheduling; Robot control; State feedback;
fLanguage
English
Journal_Title
Industrial Electronics, IEEE Transactions on
Publisher
ieee
ISSN
0278-0046
Type
jour
DOI
10.1109/41.281605
Filename
281605
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