An experimental comparison of robust control algorithms on a direct drive manipulator

被引：92

作者：

Jaritz, A

Spong, MW

机构：

[1] UNIV ILLINOIS, COORDINATED SCI LAB, URBANA, IL 61801 USA

[2] UNIV ST GALLEN, ST GALLEN, SWITZERLAND

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 1996年 / 4卷 / 06期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/87.541692

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we present an experimental comparison of recent passivity based robust control algorithms on a two-link direct-drive robot arm. The manipulator is actuated with high-torque brushless dc motors and is controlled by a digital signal processor (DSP) development system interfaced to a PC486 workstation. Four algorithms are compared with respect to ease of design, implementation, and performance of the closed-loop systems.

引用

页码：627 / 640

页数：14

共 15 条

[1]

AOUSTIN Y, 1994, P SYROCO 94 CAPR IT, P17

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