This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Simulation of Linear Quadratic Regulator Controls on a Nonlinear Robotics System
Annotation ability available
Sector:
Language:
English
Abstract
A linear modern control system design technique was employed on a nonlinear robotics system to determine the applicability of the linear design method to nonlinear systems. This paper examines the modeling of the robot dynamics for use in the control system design and for simulation of the robot's path tracking performance. The differential equation model development process is summarized and a discussion is presented of the manual and computer techniques employed to determine the model parameter values which most accurately represent the actual system. The simulated robot dynamics are compared with the actual response of the robot to the control system.
Authors
Citation
Wilder, R., "Simulation of Linear Quadratic Regulator Controls on a Nonlinear Robotics System," SAE Technical Paper 861819, 1986, https://doi.org/10.4271/861819.Also In
References
- Tucker T. et al. “An Experimental Demonstration of Linear Quadratic Regulator Design Applied to Manipulator Path Tracking,” American Control Conference Proceedings June 1986
- Nye T. Cipra R. J. “The Design of a Computer Controlled Planar Manipulator,” International Conference on Robotics and Automation, Proceedings March 1985 301 306