• DocumentCode
    1205208
  • Title

    L-Q design of PID controllers for robot arms

  • Author

    Luo, G.L. ; Saridis, G.N.

  • Author_Institution
    Rensselaer Polytechnic Institute, Troy, NY, USA
  • Volume
    1
  • Issue
    3
  • fYear
    1985
  • fDate
    9/1/1985 12:00:00 AM
  • Firstpage
    152
  • Lastpage
    159
  • Abstract
    An explicit solution for the robot arm controller, optimal in the linear quadratic sense, is obtained. Based on this formulation, a PID controller with acceleration feedback is proposed which is computationally efficient and robust relative to variations in the dynamic model and external disturbances.
  • Keywords
    Feedback systems; Manipulators; Optimal control, linear systems; Proportional control, linear systems; Acceleration; Control systems; Manipulator dynamics; Optimal control; Performance analysis; Riccati equations; Robot control; Robot sensing systems; Three-term control; Torque control;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Journal of
  • Publisher
    ieee
  • ISSN
    0882-4967
  • Type

    jour

  • DOI
    10.1109/JRA.1985.1087018
  • Filename
    1087018
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1205208