Decentralized Robust Control over Robot Manipulator

Lezhnina, Yuliya; Ternovaya, Galina; Galyauv, Elena R.; Kvyatkovskaya, Irina

doi:10.4028/www.scientific.net/amm.437.605

Cited by 3 publications

(2 citation statements)

References 6 publications

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“…Complex multiply linked objects take a special place among object of control, the control of which is complicated by the linkages between local subsystems. The large number of the interconnected subsystems influencing the each other complicates the traditional control problems, and the requirement of the decentralization comes to the fore [1,2]. The utilization of the decentralized algorithms corresponds to the nature of large interconnected systems, because it expects the distribution of the system components in space.…”

Section: Introductionmentioning

confidence: 99%

Robust stabilization of the multilinked object

2017

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Abstract. We consider the problem of robust control for a multilink object in the presence of the signal and parametrical uncertainty when the measurement of the derivatives of input and output signals of the local subsystems is not available. Proposed and justified the use of auxiliary circuits for each of the subsystems that eliminates the use of the vector of regression during the generate of the control signal, where by the reduced order closed-loop control system. The advantage of the proposed robust control law is that it remain unchanged when exposed to unknown disturbances, and in their absence. In the first case, the system is dissipative, while in the second case, it one is asymptotically stable.

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Section: Introductionmentioning

confidence: 99%

Robust stabilization of the multilinked object

2017

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“…The main problem of the industrial robot's control is the generation of external moments so that the robot was carried out on the chosen path [3]. The main difficulty of manipulator control due to the fact that as a result of the effects of dynamic interference of degrees of mobility and changes of the effective inertia of the links of the manipulator dynamic equations of motion are essentially nonlinear and include cross-links between the various inputs and outputs.…”

Section: Introductionmentioning

confidence: 99%

Path Control for a Manipulator while Tracking a Given Trajectory

Lezhnina

Ternovaya

Petrova

2015

AMM

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The paper propose to use robust control algorithm with disturbance compensation for management anthropomorphic robot PUMA type so as to ensure the movement of the robot manipulator along a predetermined path with a given accuracy. Necessary to generate a control signal for each degree of mobility without the use of velocities and accelerations of its relative coordinates measured output variables or other degrees of freedom. Thus, decentralized control is implemented to overcome the handling robot. For the formation of the control actions using the auxiliary circuit. This approach allows compensating for structural and parametric perturbations of the control object.

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