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Proceedings Paper

Adaptive Pole Placement Controllers For Robotic Manipulators With Predictive Action
Author(s): Okyay Kaynak; Helmut Hoyer
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Paper Abstract

This paper proposes two pole assignment control schemes for robotic manipulators, based on an anticipatory action. In one, the control objective is for the velocity tracking error to decay with a prespecified dynamics. In the other, a generalised cost function is minimized and the weighting factors in the cost function are determined to achieve desired closed loop pole locations for the tracking error. The prediction scheme used ensures a high degree of robustness against system-model mismatch as demonstrated by the simulation results presented.

Paper Details

Date Published: 19 October 1987
PDF: 10 pages
Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942956
Show Author Affiliations
Okyay Kaynak, Bogazici University (Turkey)
Helmut Hoyer, Universitat Dortmund (West Germany)

Published in SPIE Proceedings Vol. 0853:
IECON '87: Industrial Applications of Control and Simulation
Tom T. Hartley, Editor(s)

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