Zobrazeno 1 - 6
of 6
pro vyhledávání: '"Rodríguez-Liñán María del Carmen"'
Publikováno v:
International Journal of Applied Mathematics and Computer Science, Vol 27, Iss 1, Pp 79-90 (2017)
A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is pres
Externí odkaz:
https://doaj.org/article/ced652a546a6415297df4474bc031914
Publikováno v:
International Journal of Robust & Nonlinear Control; 5/25/2022, Vol. 32 Issue 8, p4771-4787, 17p
Akademický článek
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Publikováno v:
Rodriguez-Linan, M D C & Heath, W 2018, ' Controller structure for plants with combined saturation and stiction ', Institution of Mechanical Engineers. Proceedings. Part I: Journal of Systems and Control Engineering . https://doi.org/10.1177/0959651818806410
A compensation strategy for plants that suffer from both stiction and saturation in the input is proposed. This strategy exploits a principle established previously by the authors referred to as the “saturation equivalence.” This approach shows t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7ac013367d64fe544f3baa9833a66c3b
https://pure.manchester.ac.uk/ws/files/77047738/stiction_final.pdf
https://pure.manchester.ac.uk/ws/files/77047738/stiction_final.pdf
Actuator saturation is ubiquitous in physical plants. In closed-loop systems limits imposed on the actuators may result in degraded performance of the control law and, ultimately, instability of the system. When other non-linearities, such as deadzon
Externí odkaz:
http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.607002
Publikováno v:
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems & Control Engineering; Jul2017, Vol. 231 Issue 6, p471-480, 10p