Combined Nonlinear Control of Robot-Manipulator with Limitations of the Input Signals

Abstract

This article is devoted to the problem of synthesis the combined nonlinear algorithms for regulator of the control system for two degree of freedom robot-manipulator which has the input signals restrictions. As the solution methods the hyperstability criterion, the conception of L-dissipativity, the fast-acting dynamic filter-correctors and an implicit reference model are used. The main feature of the proposed solution is the author's approach to obtaining special integral estimates and use in the structure of the regulator the dynamic switch those both guarantee the stability and operability of the control system. With the help of simulation operation quality of the proposed decentralized nonlinear control system is shown. The obtained in the present article results may be useful to design and construct the control loops for various mechanical system such as rotor systems or systems of the inverted pendulums.