IMC design with limiting properties of LQR and its application to trajectory tracking control
IMC design with limiting properties of LQR and its application to trajectory tracking control
复制标题
具有LQR限制特性的IMC设计及其在轨迹跟踪控制中的应用
DOI：
10.1109/cca.1999.806733
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
S. Furuya
中科院分区：
文献类型：
--
作者：
R. Suzuki;M. Doi;N. Kobayashi;S. Furuya
本文讨论了一种用于轨迹跟踪控制的控制方法。该控制方法是由内模控制（IMC）和LQ控制的限制性质。然后将该控制应用于两连杆机器人的轨迹跟踪。实验结果表明，该方法对机器人轨迹控制是有效的。
In this paper, a control method for trajectory tracking control is discussed. The control method is derived by the internal model control (IMC) and limiting properties of LQ control. Then the proposed control is applied to trajectory tracking for a two link robot manipulator. Experimental results show that the proposed method is effective on robot trajectory control.