A novel evolutionary PD control and application for trajectory tracking

@inproceedings{Ouyang2002ANE,
  title={A novel evolutionary PD control and application for trajectory tracking},
  author={Puren R. Ouyang and Wenjun Chris Zhang},
  booktitle={ICARCV},
  year={2002}
}
In this paper, a novel evolutionary PD (EPD) control to improve the tracking performance is proposed and applied to the trajectory tracking of a closed-loop robot manipulator. The EPD control can incorporate the dynamic information of manipulator in a very plain way without requiring the knowledge of the robot dynamics, and it is simple and effective for the trajectory tracking. Comparison of the EPD control with some other PDbased controls for several different Structures of manipulators is… CONTINUE READING