GUARANTEED CONTROL OF ROBOT-MANIPULATOR MOVEMENT

Authors

  • A. G. Gurko Kharkiv National Automobile and Highway University, Ukraine, Ukraine
  • I. V. Yanchevskiy Kharkiv National Automobile and Highway University, Ukraine, Ukraine

DOI:

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

Keywords:

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

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.

References

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Published

2014-10-07

How to Cite

Gurko, A. G., & Yanchevskiy, I. V. (2014). GUARANTEED CONTROL OF ROBOT-MANIPULATOR MOVEMENT. Radio Electronics, Computer Science, Control, (2). https://doi.org/10.15588/1607-3274-2014-2-23

Issue

No. 2 (2014): Radio Electronics, Computer Science, Control

Section

Control in technical systems

License

Copyright (c) 2015 A. G. Gurko, I. V. Yanchevskiy

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