TY - GEN
T1 - Simple optimal tracking control for a class of closed-chain mechanisms in task space
AU - Perrusquia, Adolfo
AU - Flores-Campos, Juan Alejandro
AU - Yu, Wen
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - In this work an optimal tracking control in task space for slider-crank mechanisms is presented. To guarantee the tracking task it is required the complete knowledge of mechanism non-linear dynamics for the optimal control design, however the complete dynamics is not always available and linearization methods may lose many information. From the extended dynamic model of parallel robots, it can be seen that a linear system based on the slider dynamics can be obtained without any kind of linearization. This approach avoids the complete knowledge of the mechanism dynamics. Experiments are made to verify and compare the performance of the simplified model with the complete linearized dynamics model using the linear quadratic tracking (LQT) and sliding mode control (SMC).
AB - In this work an optimal tracking control in task space for slider-crank mechanisms is presented. To guarantee the tracking task it is required the complete knowledge of mechanism non-linear dynamics for the optimal control design, however the complete dynamics is not always available and linearization methods may lose many information. From the extended dynamic model of parallel robots, it can be seen that a linear system based on the slider dynamics can be obtained without any kind of linearization. This approach avoids the complete knowledge of the mechanism dynamics. Experiments are made to verify and compare the performance of the simplified model with the complete linearized dynamics model using the linear quadratic tracking (LQT) and sliding mode control (SMC).
UR - http://www.scopus.com/inward/record.url?scp=85075111131&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2019.8884504
DO - 10.1109/ICEEE.2019.8884504
M3 - Contribución a la conferencia
AN - SCOPUS:85075111131
T3 - 2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2019
BT - 2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2019
Y2 - 11 September 2019 through 13 September 2019
ER -