Trajectory tracking control of robot manipulators using discrete time-varying pole placement technique

For the trajectory tracking control problem of nonlinear systems, the most basic and classic strategy may be applying the linear control technique to a linear time-varying approximate model around some desired trajectory. However, this method is not commonly used because the design of a linear time-...

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Bibliographic Details
Published in2015 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO) Vol. 1; pp. 373 - 379
Main Authors Mutoh, Yasuhiko, Kemmotsu, Masakatsu, Awatsu, Lisa
Format Conference Proceeding
LanguageEnglish
Published SCITEPRESS 01.07.2015
Subjects
Discrete System
Linear Time-varying System
Manipulators
Mathematical model
State feedback
Time-Varying Pole Placement Control
Time-varying systems
Trajectory
Trajectory Tracking Control
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Summary:For the trajectory tracking control problem of nonlinear systems, the most basic and classic strategy may be applying the linear control technique to a linear time-varying approximate model around some desired trajectory. However, this method is not commonly used because the design of a linear time-varying controller is not simple. The authors proposed the simple design method of the pole placement controller for linear time-varying discrete systems. In this paper, to show the applicability of the proposed linear time-varying discrete pole placement technique to the trajectory tracking control problem of nonlinear systems, we apply this control method to actual 2-link robot manipulator and present the experimental results.