Fourier Series Based Tracking Controller for Robot Manipulators

Resumen: In this document, we propose a non-linear PD tracking controller with adaptive Fourier series compensation. Asymptotic convergence of the position and velocity errors is proven. The proposed controller is validated on a 2-DOF robot manipulator. Experimental validation confirmed the results that were obtained theoretically.

¿Cómo citar?

Villalobos-Chin & Jorge Santibáñez, Víctor. Fourier Series Based Tracking Controller for Robot Manipulators. Memorias del Congreso Nacional de Control Automático, pp. 329-334, 2018.

Palabras clave

Fourier analysis, Robotic Manipulator, Adaptive Control

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