Decentralized Robust Control over Robot Manipulator

Abstract:

The problem of control of systems with structural and parametric uncertainty for the case when derivatives of input and output parameters cannot be measured is solved. The operability of the designed control systems is modeled for anthropomorphic robots manipulator. Selected example demonstrates the compensation of effect of bounded structure and parametric disturbances. As in the control action organization the effect on subsystem is not allowed, i.e. obtained control system is completely decentralized.

• Periodical: Applied Mechanics and Materials (Volume 437)
• Pages: 605-609
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.437.605
• Online since: October 2013
• Authors: Yuliya A. Lezhnina*, Galina N. Ternovaya, Elena R. Galyauv, Irina Y. Kvyatkovskaya
• Keywords: Auxiliary Block, Compensation for Disturbances, Decentralized Law, Manipulator, Multimessenger Plant, Reference Model, Robust System

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