PDF Subvariable Control and Its Application to Robot Motion Control

A method for determining the feedback coefficients of pseudo-derivative-feedback control is presented, along with applications of this control scheme. Simulations are performed for controlling a linear inertia system with disturbance loads and inertia variations, and for controlling a nonlinear system represented by a manipulator arm. The results show that PDF subvariable control quickly rejects disturbances and is insensitive to inertia variations. Also, the position responses do not exhibit overshoot or oscillation. Comparison with the results for proportional-plus-velocity-feedback control shows that the PDF approach is superior in response speed, robustness, and disturbance-handling ability. Experimental results from implementation of both control schemes to a revolute manipulator support this conclusion.