SDRE-based suboptimal controller for manipulator control

被引：0

作者：

Stepien, Slawomir ^{[1
]}

Superczynska, Paulina ^{[1
]}

Lindenau, Oskar ^{[1
]}

Walesa, Marcin ^{[1
]}

机构：

[1] Poznan Univ Tech, Inst Automat Control & Robot, Poznan, Poland

来源：

2019 12TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO '19) | 2019年

关键词：

DEPENDENT RICCATI EQUATION; FEEDBACK-CONTROL; SYSTEMS; DESIGN;

D O I：

10.1109/romoco.2019.8787352

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper presents modelling and control of a robotic arm. To solve the control problem, the state-dependent Riccati equation (SDRE) method is applied. As a new contribution, the paper deals with state-dependent parametrization as an effective modelling of robot manipulator and shows how to modify classical form of the SDRE method to reduce computational effort during feedback gain computation. Numerical example with 3 DOF manipulator compares described methods and confirms usefulness of the proposed technique.

引用

页码：21 / 25

页数：5

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