Controller design method for a nonlinear system with an input constraint and its application to a robot arm

被引：0
|
作者：
Katoh, K [1 ]
Kidane, N [1 ]
Nakamura, H [1 ]
Nishitani, H [1 ]
机构：
[1] Nara Inst Sci & Technol, Grad Sch Informat Sci, Nara, Japan
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), VOLS 1AND 2 | 2005年
关键词：
D O I：
暂无
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 propose a controller for a nonlinear system with an input constraint depending on the state. The proposed controller is based on Kidane's controllers. Then, if system has one input, we can tune optimality and robustness easily. We apply the proposed controller to singlelink robot arm in order to verify the effectiveness of the proposed controller.
引用
收藏
页码：1373 / 1378
页数：6
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