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Eigenstructure assignment in robot tracking applications
A. Swarup,
Published in
Volume: 24
Issue: 6
Pages: 1017 - 1026
Design procedures based on exact eigenstructure assignment are not suitable because of very high computational requirements. A computation-effective 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 placed in a specified disk. The proposed design procedure is applied to the trajectory tracking problem of a robot manipulator. An error-pattern based payload estimation and compensation scheme is also proposed to improve performance robustness. © 1993 Taylor & Francis Group, LLC.
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