{"title":"具有输入饱和的机械臂鲁棒自适应重复控制系统","authors":"E. L. Eremin, L. V. Nikiforova, E. A. Shelenok","doi":"10.22250/isu.2021.69.97-111","DOIUrl":null,"url":null,"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.","PeriodicalId":426728,"journal":{"name":"Informatika i sistemy upravleniya","volume":"103 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"ROBUST-ADAPTIVE REPETITIVE CONTROL SYSTEM FOR MANIPULATOR WITH INPUT SATURATIONS\",\"authors\":\"E. L. Eremin, L. V. Nikiforova, E. A. Shelenok\",\"doi\":\"10.22250/isu.2021.69.97-111\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":426728,\"journal\":{\"name\":\"Informatika i sistemy upravleniya\",\"volume\":\"103 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Informatika i sistemy upravleniya\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.22250/isu.2021.69.97-111\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Informatika i sistemy upravleniya","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.22250/isu.2021.69.97-111","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
ROBUST-ADAPTIVE REPETITIVE CONTROL SYSTEM FOR MANIPULATOR WITH INPUT SATURATIONS
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.
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