Authors:
Yasuhiko Mutoh
1
;
Masakatsu Kemmotsu
2
and
Lisa Awatsu
2
Affiliations:
1
Sophia Unversity, Japan
;
2
Sophia University, Japan
Keyword(s):
Trajectory Tracking Control, Linear Time-varying System, Discrete System, Time-Varying Pole Placement Control.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronics Systems
;
Real-Time Systems Control
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
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.