Title :
IMC design with limiting properties of LQR and its application to trajectory tracking control
Author :
Suzuki, R. ; Doi, M. ; Kobayashi, N. ; Furuya, S.
Author_Institution :
Dept. of Mech. Syst. Eng., Kanazawa Inst. of Technol., Ishikawa, Japan
Abstract :
In this paper, a control method for trajectory tracking control is discussed. The control method is derived by the internal model control (IMC) and limiting properties of LQ control. Then the proposed control is applied to trajectory tracking for a two link robot manipulator. Experimental results show that the proposed method is effective on robot trajectory control
Keywords :
control system synthesis; linear quadratic control; manipulators; model reference adaptive control systems; tracking; IMC design; LQ control; LQR; internal model control; limiting properties; trajectory tracking control; two link robot manipulator; Control systems; Laplace equations; Manipulators; Mechanical factors; Mechanical systems; Output feedback; Riccati equations; Robot control; Trajectory; Vectors;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.806733
