Open document
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General information |
| Author |
Valadbeygi, Amir Parviz; Pourgharibshahi, Vahid |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
this paper proposes a new method for designing a
reconfigurable controller for descriptor systems which is
obtained from the second order dynamics of a robot control
situation. Using mathematical tools the equations of robot
control situation have been translated to descriptor systems,
thus, after this change the controller has been designed for
control performances. The proposed reconfigurable
controller can recover the nominal closed‐loop performances
after fault occurrence in the system. The dynamics of
descriptor systems contain infinite and finite elements, so a
complete response of descriptor systems can be represented
by an eigenstructure which involves finite and infinite
elements. In this paper eigenstructure assignment is used to
design a reconfigurable controller in general such that the
reconfigured system can recover the complete response of a
nominal system as much as possible. Finally, an example
represents the effectiveness of the new method. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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