Unfalsified control of manipulators: simulation analysis

• Autorzy: Pawluk M. , Arent K.
• 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.,

Bibliografia

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