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http://yadda.icm.edu.pl:80/baztech/element/bwmeta1.element.baztech-article-BPG5-0005-0034

Czasopismo

Bulletin of the Polish Academy of Sciences. Technical Sciences

Tytuł artykułu

Unfalsified control of manipulators: simulation analysis

Autorzy Pawluk, M.  Arent, K. 
Treść / Zawartość http://bulletin.pan.pl/ http://journals.pan.pl/dlibra/journal/95347 http://www.degruyter.com/view/j/bpasts
Warianty tytułu
Języki publikacji EN
Abstrakty
EN In this paper we present results of systematic and comprehensive simulation analysis of the Tsao & Safonov unfalsified controller for complex robot manipulators. In particular, we show that the controller falsification procedure yields the closedloop unfalsified controller, which accomplishes the control objective, within a finite and relatively short time interval with the number of invocations of linear programming based unfalsified controller selection procedure being relatively small. We also present some conclusions resulting from the investigation of the effect of such elements as manipulator structure complexity, prior knowledge about disturbances, reference trajectory and assigned closed-loop spectrum on unfalsified controller performance and computational complexity.
Słowa kluczowe
EN unfalsified control   manipulator   linear programming  
Wydawca Polska Akademia Nauk, Wydział IV Nauk Technicznych
Czasopismo Bulletin of the Polish Academy of Sciences. Technical Sciences
Rocznik 2005
Tom Vol. 53, nr 1
Strony 19--29
Opis fizyczny Bibliogr. 13 poz., 18 rys., 6 tab.
Twórcy
autor Pawluk, M.
autor Arent, K.
  • Institute of Control and Computation Engineering Warsaw University of Technology, 15/19 Nowowiejska St., 00-665 Warszawa, Poland., mpawluk@elka.pw.edu.pl
Bibliografia
[1] W. Khalil and E. Dombre, Modelling, Identification & Control of Robots, Hermes Penton Science, 2002.
[2] R. Ortega and M. W. Spong, “Adaptive motion control of rigid robots”, Automatica 25(6), 877–888 (1989).
[3] H.G. Sage, M.F.D. Mathelin, and E. Ostertag, “Robust control of robot manipulators: a survey”, International Journal of Control 72(16) (1999).
[4] M.W. Spong and M. Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, 1989.
[5] K. Tchon, A. Mazur, I. Dul¸eba, R. Hossa, and R. Muszynski, Manipulators and Mobile Robots. Models, Motion Planning, Control. Akademicka Oficyna Wydawnicza PLJ, Warszawa, 2000 (in Polish).
[6] M.G. Safonov and T.-C. Tsao, “The unfalsified control concept and learning, IEEE Transactions on Automatic Control, 42(6), 843–847 (1997).
[7] T.-C. Tsao and M.G. Safonov, “Unfalsified direct adaptive control of a two-link robot arm”, International Journal of Adaptive Control and Signal Processing 15, 319–334 (2001).
[8] N. Sadegh and R. Horowitz, Stability and robustness analysis of a class of adaptive controllers for robotic manipulators, International Journal of Robotics Research 9(3), 74–94 (1990).
[9] J.J.E. Slotine and W. Li, On the adaptive control of robot manipulators, International Journal of Robotics Research 6(3), 49–59 (1987).
[10] A. Mazur and C. Schmidt, “Adaptive lambda-tracking for rigid manipulators”, in: Theory and practice of robots and manipulators. ROMANSY 13, Proceedings of the Thirteenth CISM-IFToMM Symposium, 103–112 (2000).
[11] J.J.E. Slotine and W. Li, “Adaptive manipulator control: A case study”, IEEE Transactions on Automatic Control 33(11), 995–1003 (1988).
[12] A. Jaritz and M.W. Spong, “An experimental comparison of robust control algorithms on a direct drive manipulator”, IEEE Transactions on Control Systems Technology 4(6) (1996).
[13] K. Kozłowski, Modelling and Identification in Robotics. Springer-Verlag, London, 1998.
Kolekcja BazTech
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