Manifold based feedback design

MaRDI QIDQ4355823zbMATH OpenFDO

Authors K. David Young

Publication date 21 September 1997

zbMATH Keywords

circle constraintdisturbance rejectionfeedback designholonomic constraintsmanifold based designsnonlinearrobotic manipulatorssingular perturbationsliding modestrackingvariable structure

Mathematics Subject Classification ID

Variable structure systems (93B12) Design techniques (robust design, computer-aided design, etc.) (93B51) Feedback control (93B52) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)

Review text

The systems to be controlled are nonlinear mechanical systems with holonomic constraints, typically robotic manipulators with the circle constraint. The feedback design has two goals: for the reaching phase dynamics, the system has to reach a stable equilibrium point; for the constraint motion phase, the design goal is to track some desired trajectory on the constraint manifold. For the design, a reduced order model is used resulting from the theory of singular perturbation. Disturbance rejection with insensitivity to parameter variations is provided by manifold based feedback designs. DC motor drive control, variable structure servomechanism, joint space path control, task \(s\)-phase path planning and circle constraint tracking examples are shown. For the entire collection see [Zbl 0864.00081].

Recommendations

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