Accurate motion regeneration technique with robust control approach
نویسندگان
چکیده
منابع مشابه
Robust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملA Robust Control Design Technique for Discrete-Time Systems
A robust state feedback design subject to placement of the closed loop eigenvalues in a prescribed region of unit circle is presented. Quantitative measures of robustness and disturbance rejection are investigated. A stochastic optimization algorithm is used to effect trade-off between the free design parameters and to accomplish all the design criteria. A numerical example is given to illustra...
متن کاملHigh-Performance Robust Motion Control of Machine Tools: An Adaptive Robust Control Approach and Comparative Experiments
This paper studies the high-performance robust motion control of machine tools. The newly proposed adaptive robust control (ARC) is applied to make the resulting closed-loop system robust to model uncertainties, instead of the disturbance observer (DOB) design previously tested by many researchers. Compared to DOB, the proposed ARC has a better tracking performance and transient in the presence...
متن کاملPassivity-based Approach to Problems of Robust Spatial Motion Control
The paper addresses problems of analysis and control of spatial behavior of uncertain dynamical systems associated with properties of invariance and attractivity of smooth geometric objects (goal sets). The use of geometric control theory and inequalities of passivity allows one to reduce the problems to input-to-state stability with respect to part of the variables, construct Lyapunov-like sto...
متن کاملAn Optimal Control Approach to Robust Control of Nonlinear Spacecraft Rendezvous System with Θ-d Technique
In this paper, a new optimal robust control design approach is proposed for the task of spacecraft rendezvous such that both the stabilization and optimal performance are achieved. An approximate closed-form solution to the nonlinear optimal control problem is obtained by employing the θ-D technique, which is derived based on an approximate solution to the Hamilton-Jacobi-Bellman equation obtai...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Science and Technology Development Journal
سال: 2015
ISSN: 1859-0128,1859-0128
DOI: 10.32508/stdj.v18i3.900