{"title":"工业机器人的离散渐近参考跟踪","authors":"A. Kozáková","doi":"10.1109/RAAD.2014.7002279","DOIUrl":null,"url":null,"abstract":"The paper deals with the design of a discrete-time state space compensator to track a reference command. This approach called Command Generator Tracker (CGT) covers a broad class of reference signals that can be described by a linear differential equation with constant coefficients. The design technique is LQ-based and its principle consists in extending the plant model so that the resulting compensator includes modes of both the reference signal and the disturbance. In such a case, proper reference tracking is guaranteed. Standard LQ problem solution is then applied for the extended system yielding feedback and feed-forward gains of the CGT compensator simultaneously. Discrete-time CGT design for an industrial robot illustrates its implementation possibilities in motion control.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Discrete-time asymptotic reference tracking for an industrial robot\",\"authors\":\"A. Kozáková\",\"doi\":\"10.1109/RAAD.2014.7002279\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper deals with the design of a discrete-time state space compensator to track a reference command. This approach called Command Generator Tracker (CGT) covers a broad class of reference signals that can be described by a linear differential equation with constant coefficients. The design technique is LQ-based and its principle consists in extending the plant model so that the resulting compensator includes modes of both the reference signal and the disturbance. In such a case, proper reference tracking is guaranteed. Standard LQ problem solution is then applied for the extended system yielding feedback and feed-forward gains of the CGT compensator simultaneously. Discrete-time CGT design for an industrial robot illustrates its implementation possibilities in motion control.\",\"PeriodicalId\":205930,\"journal\":{\"name\":\"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)\",\"volume\":\"34 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAAD.2014.7002279\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAAD.2014.7002279","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Discrete-time asymptotic reference tracking for an industrial robot
The paper deals with the design of a discrete-time state space compensator to track a reference command. This approach called Command Generator Tracker (CGT) covers a broad class of reference signals that can be described by a linear differential equation with constant coefficients. The design technique is LQ-based and its principle consists in extending the plant model so that the resulting compensator includes modes of both the reference signal and the disturbance. In such a case, proper reference tracking is guaranteed. Standard LQ problem solution is then applied for the extended system yielding feedback and feed-forward gains of the CGT compensator simultaneously. Discrete-time CGT design for an industrial robot illustrates its implementation possibilities in motion control.