Synthesis of the Decentralized Control System for Robot-Manipulator with Input Saturations

Eugenie L. Eremin, Evgeniy A. Shelenok

Abstract


It is discussed the problem of synthesis of the decentralized adaptive-periodic control system for two degrees of freedom robotic manipulator which have an input limitations. The solution of the problem is based on the use of hyperstability criterion, L-dissipativity conditions and dynamic filter-corrector.

Keywords


adaptive control; combined regulator; serial dynamic corrector; hyperstability criterion; input saturation

References


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