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Linear multivariable control of two-link robotsSeveral simple multivariable controllers such as proportional (P), proportional-derivative (PD), proportional-integral (PI), and proportional-integral-derivative (PID) are investigated and designed for stabilization and regulation of a two-link planar robot. A new multivariable controller is introduced in this article to achieve command matching. The multivariable controllers are designed on the basis of a linearized model of the robot dynamics. Numerous simulation results are presented to evaluate the performance of the multivariable controllers for the two-link planar robot.
Document ID
19870040503
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Seraji, H. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Jamshidi, M. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Kim, Y. T. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Shahinpoor, M. (New Mexico, University Albuquerque, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1986
Publication Information
Publication: Journal of Robotic Systems
Volume: 3
ISSN: 0741-2223
Subject Category
Cybernetics
Report/Patent Number
ISSN: 0741-2223
Accession Number
87A27777
Distribution Limits
Public
Copyright
Other

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