Analytic proportional-derivative control for precise and compliant motion
Analytic proportional-derivative control for precise and compliant motion
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解析比例微分控制，实现精确且顺应的运动
DOI：
10.1109/icra.2011.5980256
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
P. Faloutsos
中科院分区：
文献类型：
--
作者：
Brian F. Allen;Michael Neff;P. Faloutsos
采用比例微分（PD）控制的精确控制通常需要刚度。所提出的方法确定临界阻尼PD控制轨迹，精确地获得目标位置和速度的限制，为任意初始条件。解析解提供PD控制参数，从而确定所需的阻抗。由此产生的控制器精确插值的目标状态，通过解决完整的边界值问题。控制参数是时不变的，并且仅在系统由于意外力或噪声而偏离计算轨迹时才需要重新计算。由此产生的方法提供了控制与自动确定的顺应性，产生自然的扰动响应。
Precise control with proportional-derivative (PD) control generally requires stiffness. The proposed method determines critically damped PD control trajectories that precisely obtain target position and velocity constraints for arbitrary initial conditions. An analytic solution provides the PD control parameters, thereby determining the required impedance. The resulting controller precisely interpolates the target state by solving the full boundary-value problem. Control parameters are time-invariant, and need only be recomputed if the system diverges from the computed trajectory due to unexpected forces or noise. The resulting method provides control with automatically determined compliance, yielding natural response to perturbation.