id: 00034476
dt: j
an: 00034476
au: Long, T.W.; Carrington, C.K.
ti: The RAPT control method for nonlinear systems.
so: J. Dyn. Syst. Meas. Control 113, No.4, 736-741 (1991).
py: 1991
pu: American Society of Mechanical Engineers, New York, NY
la: EN
cc: 
ut: nonlinear system model; two-link planar manipulators
ci: 
li: doi:10.1115/1.2896483
ab: Summary: The Rapid Advancement Preview Tracking (RAPT) control method uses
    both a nonlinear system model and a linearized system model to provide
    a form of feedback/preview control for nonlinear systems. It uses
    measurements of the states to calculate the current preview control
    signal from a local linearization of the state equations, and then
    iteratively calculates a perturbation correction for that control using
    the nonlinear equations. The corrected control signal is then applied
    to the system, driving the end-effector to the next position along a
    specified trajectory. Computer simulations of tracking control for
    two-link planar manipulators indicate that this algorithm may be fast
    enough for real-time control.
rv: