Power-Based Setpoint Control: Experimental Results on a Planar Manipulator


In the last years the power-based modeling framework, developed within the sixties to model nonlinear electrical RLC networks, has been extended for modeling and control of a bigger category of physical systems. During this temporary we tend to apply power-primarily based integral management to a planar manipulator experimental setup. An integrator is understood to atone for steady-state errors, which sometimes occur in real applications. Recent developments in power-based control have shown the chance of applying integral management to globally asymptotically stabilize a nonlinear system, while not losing the first structure. In contrast, the additional common PI or PID controllers do not provide such world properties. Each simulation and experimental results show an improvement in transient performance compared to PID control.

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