Position-based motion control for parallel manipulators under parametric uncertainties and with finite-time external disturbance rejection
| Autor: | Natalia Gorokhova, Marina Korotina, Sergey A. Kolyubin, Alexey A. Bobtsov, Dmitrii Dobriborsci |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Signal generator Computer science 020208 electrical & electronic engineering Passivity 02 engineering and technology Motion control 020901 industrial engineering & automation Control and Systems Engineering Position (vector) Control theory Convergence (routing) 0202 electrical engineering electronic engineering information engineering Harmonic Ball (mathematics) Parametric statistics |
| Zdroj: | IFAC-PapersOnLine. 53:8456-8461 |
| ISSN: | 2405-8963 |
| Popis: | We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are assumed to be unknown, and only a ball position is measurable with a resistive touch sensor. To solve the task we propose a novel passivity-based output control algorithm that can be implemented for unstable linearized systems of an arbitrary relative degree. In contrast to previous works, we describe a new way to parametrize harmonic signal generators and an estimation algorithm with finite-time convergence. This scheme enables fast disturbance cancellation under control signal magnitude constraints. |
| Databáze: | OpenAIRE |
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