# 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