NDLI: Direct parametric approach for cascaded systems with application in robot control

Content Provider	IEEE Xplore Digital Library
Author	Guang-Ren Duan
Copyright Year	2014
Description	Author affiliation: Harbin Inst. of Technol., Harbin, China (Guang-Ren Duan)
Abstract	This paper considers the control of a system which is the cascaded result of a second-order nonlinear plant and a first-order actuator system. It is shown that such a system can be converted equivalently into a fully-actuated third-order quasi-linear system, and as soon as this is done, a simple complete general parametrization of the position-velocity-acceleration feedback controller can be immediately given, which provides, no matter the open loop system is linear or not, a constant linear closed-loop system with designed eigenstructure. Furthermore, the approach also provides all the degrees of design freedom represented by a stable matrix F; and another parameter matrix Z; which is in fact dense in the parameter space. They can be further optimized to achieve additional requirements on the closed-loop system.
Starting Page	29
Ending Page	35
File Size	892466
Page Count	7
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987953
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	direct parametric approach robot control degree of freedom Abstracts Joints quasi-linear systems Fully-actuated high-order systems
Content Type	Text
Resource Type	Article

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