Title :
Robust predictive robot control
Author :
Berlin, Frank ; Frank, Paul M.
Author_Institution :
Duisburg Univ., Germany
Abstract :
In previous years several control concepts have been applied to robot control. Based on the computed torque method a predictive control law is considered in the paper. It is shown that the predictive control concept is a powerful method to decrease the tracking error in robot manipulator control. Being aware of appearing model-plant mismatches the controller design-procedure must be modified to guarantee disturbance attenuation. Applying an input-output stability analysis it can be shown that the resulting control law is robust against these model-plant mismatches.<>
Keywords :
control system synthesis; manipulators; predictive control; stability; computed torque; disturbance attenuation; input-output stability analysis; model-plant mismatches; predictive control law; robot control; robot manipulator; robust control; tracking error; Attenuation; Cost function; Design methodology; Error correction; Predictive control; Predictive models; Robot control; Robust control; Robust stability; Weight control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240526
