High Order Feedback Design to Improve Robot Performance

Authors

O. Yaniv, Tel Aviv UniversityFollow
Mark L. Nagurka, Marquette UniversityFollow
S. Safonov, Elmo Position Control Ltd.
Tamar Flash, Weizmann Institute of Science

Document Type

Article

Language

eng

Publication Date

12-2002

Publisher

Elsevier

Source Publication

IFAC Proceedings Volumes

Source ISSN

1474-6670

Abstract

In comparison to PI and PID controllers, a higher order “advanced” controller is shown to improve the performance of an experimental robot for speed and position control applications. The advanced controller attains a higher bandwidth, lower settling time and better disturbance rejection, while the increased performance costs little in sensor noise amplification.

Comments

IFAC Proceedings Volumes, Vol. 35, No. 2 (December 2002): 433-438. DOI.

Recommended Citation

Yaniv, O.; Nagurka, Mark L.; Safonov, S.; and Flash, Tamar, "High Order Feedback Design to Improve Robot Performance" (2002). Mechanical Engineering Faculty Research and Publications. 226.
https://epublications.marquette.edu/mechengin_fac/226