Publication Date:
2011-08-24
Description:
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.
Keywords:
CYBERNETICS
Type:
ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control (ISSN 0022-0434); 113; 736-741
Format:
text
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