Stabilization of Robots With a Regulator Containing the Sigmoid Mapping
| Autor: | Ricardo Balcazar, Arturo Aguilar, Victor Garcia, Tomás Vargas, Carlos Aguilar-Ibanez, José Jesús De Rubio, Dany Ivan Martinez, Genaro Ochoa, Juan Francisco Novoa, David Ricardo Cruz |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology General Computer Science Computer science Regulator 02 engineering and technology 01 natural sciences symbols.namesake 020901 industrial engineering & automation Control theory Limit (music) General Materials Science mapping 0101 mathematics 010102 general mathematics General Engineering robot Sigmoid function Stabilization sigmoid regulator symbols Robot lcsh:Electrical engineering. Electronics. Nuclear engineering Actuator lcsh:TK1-9971 |
| Zdroj: | IEEE Access, Vol 8, Pp 89479-89488 (2020) |
| ISSN: | 2169-3536 |
| Popis: | Actuators nonlinearities are unknown external perturbations in robots, which are unwanted because they can severely limit their performance. This research is focused on the stabilization of robots subject to actuators nonlinearities with a regulator containing the sigmoid mapping. Our regulator has the following three main characteristics: a) a sigmoid mapping is used to ensure boundedness of the regulator law terms, b) the chattering is reduced by the usage of the saturation mapping instead of the signum mapping, and c) the stabilization is ensured by the Lyapunov analysis. Finally, we evaluate our regulator for the stabilization of two robots. |
| Databáze: | OpenAIRE |
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