| Autor: |
T. L. Rusyaeva, Le Hong Quang, Victor V. Putov, Victor N. Sheludko |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
2021 XXIV International Conference on Soft Computing and Measurements (SCM). |
| DOI: |
10.1109/scm52931.2021.9507128 |
| Popis: |
This report considers the issues of constructing an adaptive robust control system based on the state of a multi-degree-of-freedom nonlinear mechanical plant with resilient properties under conditions of parametric and functional uncertainty with the reduction of the nonlinear mathematical model of the plant to a cascade structure and its affine parameterization with respect to matrices of unknown parameters. Synthesis of the adaptive robust system is done with adaptive integrator backstepping method with setting functions, which is combined for the purpose of simplifying step-by-step procedures with the method of regularization by parameter projection algorithms and the method of replacing cumbersome calculations of analytical expressions of “net” derivatives of virtual controls at every step with their filtered alternatives. We present the results of a digital implementation of the constructed adaptive robust trajectory motion control system of a four-link manipulation robot based on registered copyright software in the MATLAB/Simulink environment. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
|
