Title

PDF Subvariable Control and Its Application to Robot Motion Control

Abstract

A method for determining the feedback coefficients of pseudoderivative-feedback (PDF) control is presented, along with applications of this control scheme. Simulations are performed for controlling a linear inertial system with disturbance loads and inertia variations, and for controlling a nonlinear system represented by a manipulator arm. The results show that PDF subvariable control quickly rejects disturbances and is insensitive to inertia variations. Also, the position responses do not exhibit overshoot or oscillation. Comparison with the results for proportional-plus-velocity-feedback control shows that the PDF approach is superior in response speed, robustness, and disturbance-handling ability. Experimental results for the implementation of both control schemes to a revolute manipulator support this conclusion.

Meeting Name

1989 American Control Conference

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Computer Simulation; Control Systems; Nonlinear; Control Systems; Proportional; Dynamics

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1989 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

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