Minimum Entropy Approach For Robot Manipulator

Skaf, Zakwan and AI-Bayati, Ahmad and Wang, Hong (2011) Minimum Entropy Approach For Robot Manipulator. In: 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), December 12-15, Orlando, FL, USA,.

[thumbnail of 2011CDC_SkafAiBayatiWang2.pdf] PDF

Download (625kB)


In this paper, a new algorithm for an adaptive PI controller for nonlinear systems subject to stochastic non- Gaussian disturbance is studied. The minimum entropy control is applied to decrease the closed-loop tracking error on an ILC basis. The key issue here is to divide the control horizon into a number of equal time intervals called batches. Within each interval, there are a �xed number of sample points. The design procedure is divided into two main algorithms, within each batch and between any two adjacent batches. A D-type ILC law is employed to tune the PI controller coef�cients between two adjacent batches. However, within each batch, the PI coef�cients are �xed. A suf�cient condition is established to guarantee the stability of the closed-loop system. An analysis of the ILC convergence is carried out. Two-link robot manipulator example is included to demonstrate the use of the control algorithm, and satisfactory results are obtained.

Item Type: Conference or Workshop Item (Paper)
Additional Information: cicada
Uncontrolled Keywords: cicada
Subjects: MSC 2010, the AMS's Mathematics Subject Classification > 93 Systems theory; control
Depositing User: Mr Houman Dallali
Date Deposited: 12 Jan 2012
Last Modified: 20 Oct 2017 14:13

Actions (login required)

View Item View Item