DOI: https://doi.org/10.15588/1607-3274-2014-2-23

GUARANTEED CONTROL OF ROBOT-MANIPULATOR MOVEMENT

A. G. Gurko, I. V. Yanchevskiy

Abstract


The problem of a robot-manipulator movement under parametric uncertainties and uncontrolled disturbances has been considered. The robust controller based on the computed torque control using to calculate additional control that enables compensation of uncertain factors action a guaranteed approach, according to which values of these factors are known only to the limits of a certain set membership, has been proposed. The quadratic performance criterion for control optimization has been used. The efficiency of the proposed solution is confirmed
with numerical simulation.


Keywords


robot-manipulator, computed torque control, guaranteed control, set of probable states.

References


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