{"title":"ROBUST-ADAPTIVE REPETITIVE CONTROL SYSTEM FOR MANIPULATOR WITH INPUT SATURATIONS","authors":"E. L. Eremin, L. V. Nikiforova, E. A. Shelenok","doi":"10.22250/isu.2021.69.97-111","DOIUrl":null,"url":null,"abstract":"The article is devoted to the problem of synthesizing combined algorithms for decentralized nonlinear repetitive system to control a two-link robotic manipulator with constraints on control actions de-signed to perform cyclically repetitive operations. The hyperstability criterion, L-dissipativity condi-tions and high-speed filter-correctors are used as methods for solving the problem. The quality of the proposed control system functioning is illustrated through simulation.","PeriodicalId":426728,"journal":{"name":"Informatika i sistemy upravleniya","volume":"103 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Informatika i sistemy upravleniya","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.22250/isu.2021.69.97-111","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
The article is devoted to the problem of synthesizing combined algorithms for decentralized nonlinear repetitive system to control a two-link robotic manipulator with constraints on control actions de-signed to perform cyclically repetitive operations. The hyperstability criterion, L-dissipativity condi-tions and high-speed filter-correctors are used as methods for solving the problem. The quality of the proposed control system functioning is illustrated through simulation.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
