Properties of adaptive, optimal and preview controllers based on MVC and LQS optimal controller application to robotic manipulator

摘要

The designs of adaptive MVC (minimum variance controller), LQG and LQ optimal controllers for robotic manipulator motion control are derived. A successful application utilizing a time invariant prediction type Kalman filter for robotic motion control is proposed. The effectiveness of the preview feed-forward controller compared to the LQG and LQ optimal controllers is investigated. The properties of the adaptive MVC, LQG, and LQ optimal controllers are demonstrated through computer simulation results and the structures of their control laws.