Contour tracking control in position domain: principle, development, and application

位置域轮廓跟踪控制：原理、发展与应用

• 批准号: RGPIN-2016-04527
• 负责人: Ouyang, Puren
• 金额: $ 1.89万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638659
• 关键词: Contour; tracking; control; position; domain

The high complexity, nonlinearity, and wide applications of robotic systems have led to extensive research in the field of robot control. Many control methods have been developed with the goal of achieving high contour tracking and reliable performances. In the applicant’s recent research, the concept of position domain control was introduced in a simple form of PD/PID control laws for robotic systems to improve contour tracking performance as a superior alternative to time domain control.

机器人系统的高度复杂性、非线性和广泛的应用导致了机器人控制领域的广泛研究。为了实现高的轮廓跟踪和可靠的性能，已经开发了许多控制方法。在申请人最近的研究中，位置域控制的概念被引入到机器人系统的PD/PID控制律的简单形式中，以改善轮廓跟踪性能，作为一种优于时域控制的选择。