By Topic

L-Q design of PID controllers for robot arms

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
G. Luo ; Rensselaer Polytechnic Institute, Troy, NY, USA ; G. Saridis

An explicit solution for the robot arm controller, optimal in the linear quadratic sense, is obtained. Based on this formulation, a PID controller with acceleration feedback is proposed which is computationally efficient and robust relative to variations in the dynamic model and external disturbances.

Published in:

IEEE Journal on Robotics and Automation  (Volume:1 ,  Issue: 3 )