DECENTRALIZED ROBOT MOTION CONTROL WITH DYNAMIC COMPENSATION AND HIGH-GAIN

被引：0
|
作者：
BURDAKOV, SF [1 ]
机构：
[1] TECH UNIV ST PETERSBURG,ST PETERSBURG,USSR
来源：
JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL | 1992年 / 30卷 / 06期
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
An examination is made of algorithms for decentralized control of the motion of a robot that are constructed by the method of dynamical compensation. It is shown that, with the introduction of a large gain at the global level of control, the local regulators can be chosen independently. In the case of an inexactly known model of the robot, a large gain makes it possible to ensure robustness for a closed system.
引用
收藏
页码：118 / 124
页数：7
相关论文
共 50 条
  • [1] Decentralized robot motion control with dynamical compensation and high gain
    Burdakov, S.F.
    Soviet journal of computer and systems sciences, 1992, 30 (06): : 118 - 124
  • [2] HIGH-GAIN DECENTRALIZED CONTROL
    HANMANDLU, M
    SURYANARAYANA, NV
    IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS, 1993, 140 (04): : 255 - 260
  • [3] High-Gain Integral Dynamic Compensation Robust Control for a Satellite with Mobile Body
    Zhang Zhao
    Hu Jun
    INTERNATIONAL CONFERENCE ON SPACE INFORMATION TECHNOLOGY 2009, 2010, 7651
  • [4] Digital high-gain PD control of robot manipulators
    Wu, ST
    JOURNAL OF ROBOTIC SYSTEMS, 1997, 14 (05): : 375 - 387
  • [5] Digital high-gain PD control of robot manipulators
    Natl Yunlin Inst of Technology, Yunlin, Taiwan
    J Rob Syst, 5 (375-387):
  • [6] CONVERGENCE ANALYSIS OF LINEAR DYNAMIC-SYSTEMS BY HIGH-GAIN AND HIGH DYNAMIC COMPENSATION
    MENSAH, P
    GHOSH, BK
    INTERNATIONAL JOURNAL OF CONTROL, 1990, 52 (05) : 1147 - 1166
  • [7] Decentralized control for robot motion with dynamical compensation and large amplification coefficient
    Burdakov, C.F.
    Izvestiya Akademii Nauk: Tekhnicheskaia Kibernetika, 1992, (01): : 183 - 190
  • [8] GLOBAL OUTPUT-FEEDBACK CONTROL BY EXPLOITING HIGH-GAIN DYNAMIC-COMPENSATION MECHANISMS
    Wang, Yuan
    Liu, Yungang
    SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2024, 62 (02) : 1122 - 1151
  • [9] Decentralized adaptive tracking control for a class of interconnected nonlinear systems via dynamic high-gain technique
    Xu, Lin-Xing
    Wang, Yu-Long
    Wang, Xiaofan
    Ma, Hong-Jun
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2023, 33 (14) : 8749 - 8768
  • [10] HYSTERESIS COMPENSATION USING EXTENDED HIGH-GAIN OBSERVER AND DYNAMIC INVERSION
    Chowdhury, Dhrubajit
    Al-Nadawi, Yasir Khudhair
    Tan, Xiaobo
    PROCEEDINGS OF THE ASME 11TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2018, VOL 2, 2018,
12345