ROBUST-ADAPTIVE REPETITIVE CONTROL SYSTEM FOR MANIPULATOR WITH INPUT SATURATIONS

Abstract

The article is devoted to the problem of synthesizing combined algorithms for decentralized nonlinear repetitive system to control a two-link robotic manipulator with constraints on control actions de-signed to perform cyclically repetitive operations. The hyperstability criterion, L-dissipativity condi-tions and high-speed filter-correctors are used as methods for solving the problem. The quality of the proposed control system functioning is illustrated through simulation.