Control experiment #5(b): Partitioned control with imperfect model (larger gains)
Control simulation specifications
Kp gains: | 100 | 49 | |
Kv gains: | 20 | 14 | |
Ki gains: | 10 | 7 | |
Robot type: | 2 | ||
Controller type: | 6 | ||
Start: | 0s | 0rad | 0rad |
Goal: | 10s | 0.7854rad | 1.5708rad |
Simulation time: | 15s | ||
Control frequency: | 100Hz |
Visualization of results
Join trajectories
Error plot
Applied torques
Animation
Created by Mathematica (November 18, 2003)