Carnegie Mellon University
Effect of Sampling Rates on the Performance of Model-Based Control Schemes

Pradeep Khosla

  • Adobe portable document format (pdf) (331KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

In our previous research, we experimentally implemented and evaluated the effect of dynamics compensation in model- based control algorithms. In this paper, we evaluate the effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a decoupled and linear model of the manipulator dynamics. We discuss the design of controller gains for both the computed-torque and the independent joint control schemes and establish a framework for comparing their trajectory tracking performance. Our experiments show that within each scheme the trajectory tracking accuracy varies slightly with the change of the sampling rate. However, at low sampling rates the computed-torque scheme outperforms the independent joint control scheme.

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference
Pradeep Khosla , "Effect of Sampling Rates on the Performance of Model-Based Control Schemes," 1987.

BibTeX Reference
   author = "Pradeep {Khosla }",
   title = "Effect of Sampling Rates on the Performance of Model-Based Control Schemes",
   booktitle = "",
   year = "1987",