{"title":"简化函数逼近技术在执行电驱动柔性关节四自由度机器人自适应控制系统综合中的应用","authors":"N. D. Phu, V. Putov, Chu Trong Su","doi":"10.1109/CTS48763.2019.8973330","DOIUrl":null,"url":null,"abstract":"An adaptive control system for a flexible joint 4 DOF robotic manipulator with executive electric drives of a typical design is developed, synthesized based on step-by-step synthesis (backstepping) and the function approximation method. In this report, a simplified modification of the well-known (direct) function approximation technique was proposed, which allows reducing the order of the synthesized adaptive system and the computationally intensive. The results of a comparative computer study of the effectiveness of the initial modified function approximation method in control problem of the dynamic system of a flexible joint 4 DOF robotic manipulator with executive electric drives are presented.","PeriodicalId":118995,"journal":{"name":"2019 III International Conference on Control in Technical Systems (CTS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Simplified Function Approximation Technique in Synthesis of Adaptive Control System for A Flexible Joint 4-DOF Robotic Manipulator with Executive Electric Drives\",\"authors\":\"N. D. Phu, V. Putov, Chu Trong Su\",\"doi\":\"10.1109/CTS48763.2019.8973330\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An adaptive control system for a flexible joint 4 DOF robotic manipulator with executive electric drives of a typical design is developed, synthesized based on step-by-step synthesis (backstepping) and the function approximation method. In this report, a simplified modification of the well-known (direct) function approximation technique was proposed, which allows reducing the order of the synthesized adaptive system and the computationally intensive. The results of a comparative computer study of the effectiveness of the initial modified function approximation method in control problem of the dynamic system of a flexible joint 4 DOF robotic manipulator with executive electric drives are presented.\",\"PeriodicalId\":118995,\"journal\":{\"name\":\"2019 III International Conference on Control in Technical Systems (CTS)\",\"volume\":\"15 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 III International Conference on Control in Technical Systems (CTS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CTS48763.2019.8973330\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 III International Conference on Control in Technical Systems (CTS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CTS48763.2019.8973330","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Simplified Function Approximation Technique in Synthesis of Adaptive Control System for A Flexible Joint 4-DOF Robotic Manipulator with Executive Electric Drives
An adaptive control system for a flexible joint 4 DOF robotic manipulator with executive electric drives of a typical design is developed, synthesized based on step-by-step synthesis (backstepping) and the function approximation method. In this report, a simplified modification of the well-known (direct) function approximation technique was proposed, which allows reducing the order of the synthesized adaptive system and the computationally intensive. The results of a comparative computer study of the effectiveness of the initial modified function approximation method in control problem of the dynamic system of a flexible joint 4 DOF robotic manipulator with executive electric drives are presented.
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