DocumentCode
596884
Title
LQG/LQR optimal control for flexible joint manipulator
Author
Doina, Z.M.
Author_Institution
Fac. of Electr. Eng., Gh.Asachi Tech. Univ. of Iasi, Iasy, Romania
fYear
2012
fDate
25-27 Oct. 2012
Firstpage
35
Lastpage
40
Abstract
This paper proposes LQGR/LQG control for trajectory tracking control of flexible joint robotic system. In order to estimate the full variables states, plant uncertainty and disturbances, an estimator is used. The controller does not requires knowledge of plant uncertainty and external disturbances. The perturbation is efficiently compensated by feedback of estimated values.
Keywords
compensation; feedback; linear quadratic Gaussian control; manipulators; state estimation; trajectory control; uncertain systems; LQG-LQR optimal control; compensation; flexible joint manipulator; flexible joint robotic system; full variables state estimation; plant disturbances; plant uncertainty; trajectory tracking control; value estimation feedback; Equations; Joints; Manipulator dynamics; Mathematical model; Robot kinematics; LQG optimal control; control robust; feedback linearization; flexible manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Power Engineering (EPE), 2012 International Conference and Exposition on
Conference_Location
Iasi
Print_ISBN
978-1-4673-1173-1
Type
conf
DOI
10.1109/ICEPE.2012.6463601
Filename
6463601
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