A Cascaded Feedback Control Scheme for Trajectory Tracking of Robot Manipulator Systems with Actuator Dynamics

Author

Kawamura, Sadao ; JUN, Jinwoo ; Kanaoka, Katsuya ; Ichii, Hiroki

Author_Institution

Dept. of Robotics, Ritsumeikan Univ., Shiga

fYear

2006

fDate

Oct. 2006

Firstpage

1504

Lastpage

1509

Abstract

In the case of control for nonlinear mechanical systems, which have complex actuator dynamics, the total system becomes high-order and nonlinear. Generally speaking, it is not easy to tune feedback gains for state feedback. In this paper, we propose a feedback control scheme for motion control of nonlinear high-order systems. We prove that the proposed scheme can improve the trajectory tracking performance of a robot manipulator system with actuator dynamics. Moreover, some simulation results demonstrate the effectiveness of the proposed control scheme

Keywords

cascade control; manipulator dynamics; motion control; nonlinear control systems; position control; state feedback; actuator dynamics; cascaded feedback control; motion control; nonlinear high-order system; nonlinear mechanical system; robot manipulator system; state feedback; trajectory tracking; Actuators; Control systems; Feedback control; Manipulator dynamics; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Robots; State feedback; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281979

Filename

4058585