Adaptive Pole Placement Controllers For Robotic Manipulators With Predictive Action

Abstract

This paper proposes two pole assignment control schemes for robotic manipulators, based on an anticipatory action. In one, the control objective is for the velocity tracking error to decay with a prespecified dynamics. In the other, a generalised cost function is minimized and the weighting factors in the cost function are determined to achieve desired closed loop pole locations for the tracking error. The prediction scheme used ensures a high degree of robustness against system-model mismatch as demonstrated by the simulation results presented.