A simple algorithm for designing control systems and its applications in robotics
The objective of this thesis is to find a simple algorithm which can be used for controlling both linear and nonlinear systems. The proposed algorithm is a combination of the finite difference method and digital predictive control method. However, it differs from conventional methods in that it discretizes the whole control time into many small intervals and the system is analyzed and solved as the boundary value problem, rather than the initial value problem. Besides. the control signal is determined based on the desired output, not on the error signal and the simplified equation of the controlled plant is chosen as the controller equation. If the sampling frequency is high enough, the difference equations that describe the controlled plant can be simplified, and some of the uncertainty – such as frictional force and disturbances – can be neglected. Thus, the analysis and design process can be considerably simplified. A number of simulation examples are solved to illustrate the algorithm. It is shown that the algorithm is practical and simple and has a good transient and steady state response. The simulation results of the new algorithm is compared with that of digital high-gain PD control method adaptive control using multiple models and switching method and nonlinear adaptive tracking, Hcontrol design via neural networks method Finally, the algorithm is applied to the control of robot manipulators. The results show excellent transient and steady responses.
School Location:USA - Ohio
Source Type:Master's Thesis
Keywords:algorithm viscosity digital control systems
Date of Publication:01/01/1998