Decentralized robust controller design for robots with torque saturation constraint |
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Authors: | X X Xing Y S Zhong Z Y Shi |
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Affiliation: | (1) Department of Automation, Tsinghua University, Beijing, 100084, People s Republic of China |
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Abstract: | Decentralized robust tracking control problems for robots with control input amplitude limitation are investigated. The robust controller, proposed in our previous paper, is improved to avoid windup caused by amplitude limitation. To cope with the difficulties in calculating the controller parameters, a method based on evolutionary optimization is presented. Simulation results verify the effectiveness of the improved controller. |
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Keywords: | Robot Robust control Tracking control Saturation Genetic algorithm |
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