DocumentCode
347795
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
Volume
1
fYear
1999
fDate
1999
Firstpage
674
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location
Kohala Coast, HI
Print_ISBN
0-7803-5446-X
Type
conf
DOI
10.1109/CCA.1999.806733
Filename
806733
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