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
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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.
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页码：118 / 124
页数：7
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