Trajectory Tracking Control of Robot Manipulators using Discrete Time-varying Pole Placement Technique

Yasuhiko Mutoh, Masakatsu Kemmotsu, Lisa Awatsu

Abstract

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.

References

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Paper Citation


in Harvard Style

Mutoh Y., Kemmotsu M. and Awatsu L. (2015). Trajectory Tracking Control of Robot Manipulators using Discrete Time-varying Pole Placement Technique . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 373-379. DOI: 10.5220/0005533603730379


in Bibtex Style

@conference{icinco15,
author={Yasuhiko Mutoh and Masakatsu Kemmotsu and Lisa Awatsu},
title={Trajectory Tracking Control of Robot Manipulators using Discrete Time-varying Pole Placement Technique},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={373-379},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005533603730379},
isbn={978-989-758-122-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Trajectory Tracking Control of Robot Manipulators using Discrete Time-varying Pole Placement Technique
SN - 978-989-758-122-9
AU - Mutoh Y.
AU - Kemmotsu M.
AU - Awatsu L.
PY - 2015
SP - 373
EP - 379
DO - 10.5220/0005533603730379