Title :
The RAPT Control Method for Nonlinear Systems
Author :
Long, Theresa W. ; Carrington, Connie K.
Author_Institution :
Dept. of Mechanical Engineering, University of South Carolina, Columbia, SC 29208
Abstract :
Many current industrial robots use simple constant gain linear control systems that are poor compensators for the nonlinear dynamic characteristics of robot manipulators. The Rapid Advancement Preview Tracking (RAPT) control method for nonlinear systems introduced in this paper uses a combination of linearized and nonlinear system models to provide feedforward-feedback control. Specified trajectories are accurately tracked by perturbation controls calculated using differential correction. Simulations of tracking control for two link planar manipulators are presented.
Keywords :
Control systems; Electrical equipment industry; Gain; Industrial control; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Service robots; Trajectory;
Conference_Titel :
American Control Conference, 1989
Conference_Location :
Pittsburgh, PA, USA
