Robust model-based control: an experimental case study

• Published in: Proceedings., IEEE International Conference on Robotics and Automation pp. 1982 - 1987 vol.3
• Main Authors: Leahy, M.B., Bossert, D.E., Whalen, P.V.
• Format: Conference Proceeding
• Language: English
• Published: IEEE Comput. Soc. Press 1990
• Subjects: Adaptive control; Algorithm design and analysis; Feedback loop; Mathematical model; Payloads; PD control; Programmable control; Proportional control; Robust control; Testing

Three forms of robust model-based control were experimentally evaluated. Algorithm evaluation was prompted by a requirement for controllers with good high-speed tracking accuracy in uncertain payload environments. The test case was a PUMA-560 operating over the standard test suite. The tracking perf...