Decentralized Robust Control over Robot Manipulator-Reference-Cited by-同舟云学术

Decentralized Robust Control over Robot Manipulator

Published:2013-10 Issue: Volume:437 Page:605-609
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Lezhnina Yuliya A.¹,Ternovaya Galina N.¹,Galyauv Elena R.¹,Kvyatkovskaya Irina Y.¹

Affiliation:

1. Astrakhan State Technical University

Abstract

The problem of control of systems with structural and parametric uncertainty for the case when derivatives of input and output parameters cannot be measured is solved. The operability of the designed control systems is modeled for anthropomorphic robots manipulator. Selected example demonstrates the compensation of effect of bounded structure and parametric disturbances. As in the control action organization the effect on subsystem is not allowed, i.e. obtained control system is completely decentralized.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.437.605.pdf

Reference14 articles.

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