Lecture 34 : Trajectory tracking control ( feed forward, computed torque and inverse dynamics approach)
Trajectory Tracking:
PDF Computed torque Technique :
Linear form with disturbance
In this method alongwith feed forwarding the information calculation of term in above equation is done which contains a lot of terms representing Coriolis, Centripetal, Gravity & coupling.
Block diagram:
Figure 34.4 Trajectory Tracing control
Controller Equation
Substituting this controller equation , system dynamics becomes
where
The tracking error is further reduced
but at the cost of that we have to compute Nonlinear terms representing coriolis, centripetal, gravitational & coupling forces which will increase complexity.This may demand faster microcontroller or microprocessor which may increase cost.
term in above equation is done which contains a lot of terms representing Coriolis, Centripetal, Gravity & coupling. 
Controller Equation 
