Results on anti-windup design for Euler-Lagrange systems

被引：0

作者：

Morabito, F ^{[1
]}

Teel, AR ^{[1
]}

Zaccarian, L ^{[1
]}

机构：

[1] Univ Roma Tor Vergata, Dipartimento Informat Sistemi & Prod, I-00133 Rome, Italy

来源：

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002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 summarize the anti-windup construction suggested in [1] for Euler-Lagrange systems and apply it to a SCARA robot controlled by a windup-prone decoupling PID controller. It is shown through simulation that the anti-windup design guarantees the local decoupled linear performance in, addition to global set-point tracking.

引用

页码：3442 / 3447

页数：6

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