Title :
Comparison of control algorithms for a nonholonomic underactuated 2-DOF robot
Author :
Mareczek, J. ; Buss, M. ; Schmidt, G.
Author_Institution :
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany
Abstract :
Summary form only given as follows. We present experimental results of several control algorithms for a nonholonomic underactuated 2-DOF robot. The first joint of the robot consists of a DD-motor whereas the second joint has no actuator but a holding brake. We derive a control law using non-collocated linearization for the uncertain parameter case and apply PD, LQG and VS controllers. In experiments the different control laws are quantitatively compared. An intelligent brake algorithm is presented.
Keywords :
brakes; intelligent control; linear quadratic Gaussian control; linearisation techniques; robots; two-term control; variable structure systems; DD motor; LQG control; PD control; control algorithms; direct drive motor; holding brake; intelligent brake algorithm; noncollocated linearization; nonholonomic underactuated 2 DOF robot; Actuators; Automatic control; Couplings; Intelligent robots; PD control; Robotics and automation; Robust stability; World Wide Web;
Conference_Titel :
Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference on
Conference_Location :
Tokyo, Japan
Print_ISBN :
0-7803-4080-9
DOI :
10.1109/AIM.1997.652962
