Abstract
In article, the problem of the robust adaptive control of the dynamic multilinked object with local reference models is investigated. Exchange of information between local subsystems is thus forbidden and only scalar input and output signals are available to measurement, i.e. completely decentralized control is realized. As an example, the designed algorithm is used for control of the robot manipulator. Results of computer modeling of control of motion of the end of manipulator from one point to another are given. The article describes control of robot manipulator on the closed curve.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
E. Freund, Path Control for a Redundant Type of Industrial Robot, Proc. Of VII International Sump. On Industrial Robots.(1977) 234-241, 107-114.
A. M. Tsykunov, Robust control algorithms with compensation of bounded perturbations, Automation and Remote Control. 7 (2007), 103–115.
V.O. Nikiforov, Robust high-order tuner of simplified structure, Automatica. 8(35) (1999) 1409–1415.
Tsykunov, A. M. Robust output control of linear dynamic objects, Mekhatronika, avtomatizatsiya, upravlenie, N.8, 2008, pp. 7–12.
Parsheva, E. A., Lezhnina, Yu. A. Robust decentralized control with disturbance compensation with nonlinear multivariable objects, Mekhatronica, avtomatizatsiya, upravlenie. N.6, 2011 pp. 2–7.
Brusin, V. A. A class of singular distributed adaptive systems, Autom. Telemekh., N.4, 1995, pp. 119–127.
R. P. Paul, Robot Manipulators–Mathematical programming and control, M.I.T. Press, Cambridge,1983.
Tsykunov, A. M. Robust control of linear singularly perturbed plants, Automation and Remote Control. V.8, N.72, 2011, pp. 1776–1789.
Atassi, A. N., Khalil, H. H. A separation principle for the stabilization of a class of nonlinear systems, IEEE Trans. on Automatic Control, V.9, N.44, 1999, pp. 1672–1687.
Mohsen Shahinpoor, A Robot Engineering Text Book, Harper and Row, 1987.
Belousov, I. R. Formation of dynamic equations of robot manipulators, Preprint of cervical cancer named after, M.V. Keldysh RAS, N.45, 2002.
Bobtsov, A. A. Robust control algorithm of uncertain object without measuring derivatives of adjusted variable, Autom. Telemekh. N.8, 2003, pp. 82–96.
Furtat, I. B., Fradkov, A. L., Tsykunov, A. M. Robust Synchronization of Linear Networks with Compensation of Disturbances, Proceedings of 18th IFAC World Congress, V.18, N.1, 2011, pp. 1255–1260.
Tao, G., Ioannou, P. A. Model reference adaptive control for plants with unknown relative degree, IEEE Trans. Automat. Control. V.6, N.38, 1993, pp. 976–982.
Parsheva, E. A. Robust Decentralized Control with Scalar Output of Multivariable Structurally Uncertain Plants with State Delay, Proceedings of the 18th IFAC World Congress, V.18, N.1, 2011, pp. 11489–11494.
Parsheva, E. A. Robust Decentralized Control with Scalar Output of Multivariable Plants with Uncertain Structures, 6th IFAC Symposium on Robust Control Design, V.6, N.1, 2009, pp. 54–59.
Lezhnina Yu.A., Ternovaya G.N., Galyauv E.R., Kvyatkovskaya I.Yu.: Decentralized robust control over robot manipulator. Applied Mechanics and Materials. 437, pp. 605–609 (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Lezhnina, Y., Ternovaya, G., Zaripova, V. (2015). Robust Adaptive Control of the Dynamic Multilinked Object: Control of Robot Manipulator. In: Selvaraj, H., Zydek, D., Chmaj, G. (eds) Progress in Systems Engineering. Advances in Intelligent Systems and Computing, vol 366. Springer, Cham. https://doi.org/10.1007/978-3-319-08422-0_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-08422-0_10
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-08421-3
Online ISBN: 978-3-319-08422-0
eBook Packages: EngineeringEngineering (R0)