DocumentCode
487744
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
fYear
1989
fDate
21-23 June 1989
Firstpage
733
Lastpage
740
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1989
Conference_Location
Pittsburgh, PA, USA
Type
conf
Filename
4790285
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