Title :
Robust MIMO model following with application to trajectory motion control of robot arms
Author :
Tesfaye, Addisu ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
A model reference control (MRC) is studied for linear multi-input, multi-output systems with unknown dynamics. The control generates an estimate of an equivalent disturbance acting on the system, by the mechanism of time delay, and uses the estimate as a compensation signal. The analysis is presented in discrete time using the Euler operator. Experimental tests on the trajectory motion control of a two-degree of freedom SCARA robot are provided to corroborate the theoretical results
Keywords :
MIMO systems; delays; discrete time systems; manipulators; model reference adaptive control systems; motion control; 2-DOF SCARA robot; Euler operator; MIMO systems; compensation signal; discrete time system; model reference control; robot arms; time delay; trajectory motion control; Control systems; Delay effects; Delay estimation; MIMO; Manipulators; Motion control; Robots; Robust control; Sampling methods; Uncertain systems;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.410850
