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Proceedings Paper

PDF control of robotic systems with non-Gaussian disturbances
Author(s): Haiyong Chen; Hong Wang; De Xu
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Paper Abstract

In this study, the probability density function (PDF) control method has been developed to deal with the random tracking error for a class of robotic manipulator that are subjected to non-Gaussian noises. The control aim is that the shape of the PDF of the tracking error is made as close as possible to the desired PDF. The ILC frame about PDF control approach of manipulators system with non-Gaussian noises has been proposed and a recursive optimization solution batch-by-batch has been developed. In each batch, nonlinear closed-loop error dynamics is considered. In addition, the convergence condition of the tracking control algorithm has been analyzed. Finally, a simulation is given to illustrate the efficiency of the proposed approach.

Paper Details

Date Published: 13 October 2008
PDF: 7 pages
Proc. SPIE 7129, Seventh International Symposium on Instrumentation and Control Technology: Optoelectronic Technology and Instruments, Control Theory and Automation, and Space Exploration, 712923 (13 October 2008); doi: 10.1117/12.807450
Show Author Affiliations
Haiyong Chen, Institute of Automation (China)
Hong Wang, The Univ. of Manchester (United Kingdom)
De Xu, Institute of Automation (China)


Published in SPIE Proceedings Vol. 7129:
Seventh International Symposium on Instrumentation and Control Technology: Optoelectronic Technology and Instruments, Control Theory and Automation, and Space Exploration

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