Deschide documentul
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Informaţii generale |
| Autor |
Romero, Gerardo; Alcorta, Efraín; Lara, David; Pérez, Irma; Betancourt, Romeo; Ocampo, Hugo |
| Publicat |
InTech Open Access Publisher, 2012
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| Ediţie |
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| Detaliază |
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| ISBN |
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| Abstract |
This paper presents a methodology to select the
parameters of a nonlinear controller using Linear Matrix
Inequalities (LMI). The controller is applied to a robotic
manipulator to improve its robustness. This type of
dynamic system enables the robust control law to be
applied because it largely depends on the mathematical
model of the system; however, in most cases it is
impossible to be completely precise. The discrepancy
between the dynamic behaviour of the robot and its
mathematical model is taken into account by including a
nonlinear term that represents the model´s uncertainty.
The controller´s parameters are selected with two
purposes: to guarantee the asymptotic stability of the
closed‐loop system while taking into account the
uncertainty, and to increase its robustness margin. The
results are validated with numerical simulations for a
particular case study; these are then compared with
previously published results to prove a better controller
performance. |
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International Journal of Advanced Robotic Systems
Autor: 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, [...]
Publicat: 2004
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