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Comparing Feedback ...
Comparing Feedback Linearization and Jacobian Linearization for LQ Control of an Industrial Manipulator
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- Hedberg, Erik (author)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- Norrlöf, Mikael, 1971- (author)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- Moberg, Stig, 1962- (author)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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- Gunnarsson, Svante, 1959- (author)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
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(creator_code:org_t)
- 2018
- 2018
- English.
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In: Proccedings of the 12TH IFAC SYMPOSIUM ON ROBOT CONTROL.
- Related links:
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https://urn.kb.se/re...
Abstract
Subject headings
Close
- Feedback linearization is compared to Jacobian linearization for LQ control of atwo-link industrial manipulator. A method for obtaining equivalent nominal performance forboth control designs is introduced. An experimentally verified benchmark model with industrialrelevance is used for comparing the designs. Results do not show any conclusive advantages ofFeedback linearization.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publication and Content Type
- ref (subject category)
- kon (subject category)
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