Decentralized robust controller design for robots with torque saturation constraint

被引：1
|
作者：
Xing, X. X. [1 ]
Zhong, Y. S. [1 ]
Shi, Z. Y. [1 ]
机构：
[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
来源：
ELECTRICAL ENGINEERING | 2006年 / 88卷 / 05期
关键词：
robot; robust control; tracking control; saturation; genetic algorithm;
D O I：
10.1007/s00202-005-0295-1
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Decentralized robust tracking control problems for robots with control input amplitude limitation are investigated. The robust controller, proposed in our previous paper, is improved to avoid windup caused by amplitude limitation. To cope with the difficulties in calculating the controller parameters, a method based on evolutionary optimization is presented. Simulation results verify the effectiveness of the improved controller.
引用
收藏
页码：367 / 374
页数：8
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