具有输入饱和的机械臂控制系统仿真建模

2017 International Siberian Conference on Control and Communications (SIBCON) Pub Date : 2017-06-01 DOI:10.1109/SIBCON.2017.7998563

E. L. Eremin, E. A. Shelenok

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引用次数: 1

摘要

讨论了具有输入限制的二自由度机器人分散自适应周期控制系统的仿真问题。利用超稳定判据、l -耗散条件和动态滤波校正器对该问题进行了求解。

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Simulation modeling of the control system for robotic manipulator with input saturation

It is discussed the problem of simulation of the decentralized adaptive-periodic control system for two degrees of freedom robotic manipulator which have an input limitations. The solution of the problem is based on the use of hyperstability criterion, L-dissipativity conditions and dynamic filter-corrector.

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来源期刊

2017 International Siberian Conference on Control and Communications (SIBCON)

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