EIGENSTRUCTURE ASSIGNMENT IN ROBOT TRACKING APPLICATIONS

Authors
SWARUP A GOPAL M
Citation
A. Swarup et M. Gopal, EIGENSTRUCTURE ASSIGNMENT IN ROBOT TRACKING APPLICATIONS, International Journal of Systems Science, 24(6), 1993, pp. 1017-1026
Citations number
12
Categorie Soggetti
System Science","Computer Applications & Cybernetics","Operatione Research & Management Science
Journal title
International Journal of Systems Science → ACNP
ISSN journal
00207721
Volume
24
Issue
6
Year of publication
1993
Pages
1017 - 1026
Database
ISI
SICI code
0020-7721(1993)24:6<1017:EAIRTA>2.0.ZU;2-V
Abstract
Design procedures based on exact eigenstructure assignment are not sui table because of very high computational requirements. A computation-e ffective control design procedure for eigenstructure assignment using aggregation is presented. Dominant eigenvalues are placed at specified locations in the complex plane and the non-dominant eigenvalues are p laced in a specified disk. The proposed design procedure is applied to the trajectory tracking problem of a robot manipulator. An error-patt ern based payload estimation and compensation scheme is also proposed to improve performance robustness.