Title :
A predictive controller with a forward compensator for robotic manipulators
Author :
Wen, Guan-hua ; Hoyer, Helmut
Author_Institution :
Fernuniversitat Hagen, Germany
Abstract :
In this paper a control strategy for robotic manipulators based on the so-called generalized projection identification algorithm is further developed. By adding a forward compensator (the model of the robotic manipulator, which can be obtained by off-line and/or on-line estimation or identification) to the system, its properties are considerably improved. It is shown by simulations that the system has a high accuracy and a strong robustness
Keywords :
compensation; identification; manipulators; predictive control; stability; forward compensator; generalized projection identification algorithm; predictive controller; robotic manipulators; robustness; Computational modeling; Control systems; Force control; Manipulator dynamics; Nonlinear control systems; Nonlinear equations; Process control; Robot control; Symmetric matrices; Velocity control;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325399
