PDF Subvariable Control and Its Application to Robot Motion Control
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.
M. Leu and D. I. Freed, "PDF Subvariable Control and Its Application to Robot Motion Control," Proceedings of the 1989 American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), Jan 1989.
1989 American Control Conference
Mechanical and Aerospace Engineering
Keywords and Phrases
Computer Simulation; Control Systems; Nonlinear; Control Systems; Proportional; Dynamics
Article - Conference proceedings
© 1989 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.