Naslov
An Adaptive Pole Placement Approach to Robot Control

Autori
Novaković, Branko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proc. of Third Intern. Conf. on Adv. Manuf. Systems and Technology, AMST 93 / - Udine : AMST-93, 1993, 115-122

Skup
Third Intern. Conf. on Adv. Manuf. Systems and Technology, AMST 93

Mjesto i datum
Udine, Italija, 08.04.1993. - 12.04.1993

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Robots; Nonlinear Systems; External Linearization; Adaptive Control; Pole Placement

Sažetak
This paper presents an unified approach to an adaptive pole placement robot control synthesis, based on the full robot model (FRM). The nonlinear control law that guarantees the linear behaviour of the nonlinear FRM in the closed loop system, is derived by following the ideas of the external linearization and the introduction of the tracking error model of FRM. An unified direct adaptation procedure of the position and velocity regulator gains is proposed, based on the adaptive pole placement method. Here, the desired stage of the relative and exponential stability has been preserved. in that sense a simple control synthesis procedure has been built.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA