The International Association for Automation and Robotics in Construction
Publications / 2005 Proceedings of the 22nd ISARC, Ferrara, Italy
Nonlinear Control System Design for Construction Robots: Estimation, Partial Linearization by Feedback and State-Dependent-Parameter Control
Abstract:
This work is concerned with the development of State Dependent Parameter, Proportional-Integral-Plus (SDP-PIP) control of a prototype robotic arm called Starlifter.
Keywords: PIP Control, Construction Robotics, SDP-PIP control, Partial Linearization by feed back