Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1989-05-17
1991-09-17
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856813, 31856818, 318632, 364192, 901 45, G05B 1942
Patent
active
050497960
ABSTRACT:
Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.
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Adams Harold W.
Ip Paul
Jones Thomas H.
Manning John R.
The United States of America as represented by the Administrator
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