Open AccessHybrid Decentralized Nonlinear Control System for Manipulation Robot with Input Saturations
Author(s) -
Е. Л. Еремин,
Л. В. Никифорова,
E. A. Shelenok
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2096/1/012069
Subject(s) - control theory (sociology) , nonlinear system , robot manipulator , control (management) , control engineering , decentralised system , computer science , robot , manipulator (device) , control system , nonlinear control , mechanical system , engineering , artificial intelligence , physics , electrical engineering , quantum mechanics
The paper is devoted to consideration of the problem of constructing a discrete-continuous decentralized nonlinear combined control system for two-link robotic manipulator with restrictions in control signals. The mathematical model of the manipulator is presented as a two-channel dynamic plant with nonlinear cross-links. As methods for solving this problem V. M. Popov’s hyperstability criterion and the conditions of L-dissipativity are used. With the help of simulation, the quality of the proposed control system is shown. The results obtained in article may be useful for construction the control systems for manipulators with many degrees of freedom and also for control various mechanical systems.