Position Control of Robotic Systems via an Affine PD-Based Controller: Comparison Between Two Design Approaches

被引：3

作者：

Gritli, Hassene ^{[1
,2
]}

Jenhani, Sahar ^{[1
,2
]}

Carbone, Giuseppe ^{[3
]}

机构：

[1] Univ Carthage, Higher Inst Informat & Commun Technol, Tunis 1164, Tunisia

[2] Univ Tunis El Manar, Natl Engn Sch Tunis, Lab Robot Informat & Complex Syst RISC Lab LR16ES, Tunis 1002, Tunisia

[3] Univ Calabria, Dept Mech Energy & Management Engn, Via Bucci Cubo 46C, I-87036 Arcavacata Di Rende, CS, Italy

来源：

PROCEEDINGS OF THE 2022 5TH INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND EMERGENT TECHNOLOGIES IC_ASET'2022) | 2022年

关键词：

Position control; Robotic systems; Taylor approximation; Linear model; Affine PD controller; Manipulator robot;

D O I：

10.1109/IC_ASET53395.2022.9765861

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This work is concerned with the position control of robotic systems by means of an affine PD-based control law. The general nonlinear differential equation of the dynamics with a non-constant and nonlinear input matrix is considered. The main idea for the design of the control law lies in linearizing the dynamics of the robot around the desired configuration state by using the first-order Taylor approximation. Thus, by means of the obtained linear model, two different approaches for the design of the feedback gains of the affine PD controller are presented. At the end of this work, a two-degree-of-freedom manipulator robot is adopted to show the efficiency and then to compare between the two design approaches of the affine PD-based control law.

引用

页码：424 / 432

页数：9

共 2 条

[1] Determination of Conditions on Feedback Gains for the Position Control of Robotic Systems Under an Affine PD-Based Control Law
Jenhani, Sahar
Gritli, Hassene
Carbone, Giuseppe
PROCEEDINGS OF THE 2022 5TH INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND EMERGENT TECHNOLOGIES IC_ASET'2022), 2022, : 518 - 526
[2] Design of an Affine Control Law for the Position Control Problem of Robotic Systems Based on the Development of a Linear Dynamic Model
Jenhani, Sahar
Gritli, Hassene
Carbone, Giuseppe
PROCEEDINGS OF THE 2022 5TH INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND EMERGENT TECHNOLOGIES IC_ASET'2022), 2022, : 403 - 411

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