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Robot trajectory tracking with self-tuning predicted controlA controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.
Document ID
19880067233
Document Type
Conference Paper
Authors
Cui, Xianzhong (Michigan Univ. Ann Arbor, MI, United States)
Shin, Kang G. (Michigan, University Ann Arbor, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
CYBERNETICS
Meeting Information
1988 American Control Conference(Atlanta, GA)
Funding Number(s)
CONTRACT_GRANT: NSF ECS-84-09938
CONTRACT_GRANT: NCC9-16
Distribution Limits
Public
Copyright
Other