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Title: SDRE control strategy applied to a nonlinear robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.
Authors:
; ; ; ;  [1] ;  [2] ;  [3]
  1. UTFPR-PONTA GROSSA, PR (Brazil)
  2. UNESP-BAURU, SP (Brazil)
  3. UFABC-SANTO ANDRE, SP (Brazil)
Publication Date:
OSTI Identifier:
22390793
Resource Type:
Journal Article
Resource Relation:
Journal Name: AIP Conference Proceedings; Journal Volume: 1637; Journal Issue: 1; Conference: ICNPAA 2014: 10. International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, Narvik (Norway), 15-18 Jul 2014; Other Information: (c) 2014 AIP Publishing LLC; Country of input: International Atomic Energy Agency (IAEA)
Country of Publication:
United States
Language:
English
Subject:
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSICS; COMPUTERIZED SIMULATION; CONTROL SYSTEMS; COORDINATES; DESIGN; ELECTRIC POTENTIAL; FEEDBACK; MOTORS; NONLINEAR PROBLEMS; POSITIONING; RICCATI EQUATION; ROBOTS; TORQUE