The RAPT Control Method for Nonlinear Systems

Source: Journal of Dynamic Systems, Measurement, and Control:;1991:;volume( 113 ):;issue: 004::page 736
Author:
T. W. Long
 ,
C. K. Carrington
DOI: 10.1115/1.2896483
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The Rapid Advancement Preview Tracking (RAPT) control method uses both a nonlinear system model and a linearized system model to provide a form of feedback/preview control for nonlinear systems. It uses measurements of the states to calculate the current preview control signal from a local linearization of the state equations, and then iteratively calculates a perturbation correction for that control using the nonlinear equations. The corrected control signal is then applied to the system, driving the end-effector to the next position along a specified trajectory. Computer simulations of tracking control for two-link planar manipulators indicate that this algorithm may be fast enough for real-time control.
keyword(s): Nonlinear systems , Signals , Tracking control , Real-time control , End effectors , Equations , Feedback , Manipulators , Nonlinear equations , Measurement , Computer simulation , Trajectories (Physics) AND Algorithms ,
  • Show Full MetaData
  • Get RIS
  • Item Order
  • Go To Publisher
  • Statistics
URI
https://yetl.yabesh.ir/yetl1/handle/yetl/108240
Collections