MANIPULATION
IMC design with limiting properties of LQR and its application to trajectory tracking control
Ryoichi Suzuki, Masaharu DOI, Nobuaki Kobayashi, Shigehiko Furuya
- Year
- 2003
- Citations
- 12
Abstract
In this paper, a control method for trajectory tracking control is discussed. The control method is derived by the internal model control (IMC) and limiting properties of LQ control. Then the proposed control is applied to trajectory tracking for a two link robot manipulator. Experimental results show that the proposed method is effective on robot trajectory control.
Keywords
TrajectoryControl theory (sociology)Tracking (education)LimitingControl (management)Computer scienceControl engineeringRobotControl systemInternal model
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