Motion Tracking of a Rigid-Flexible Link Manipulator in a Controller Failure Condition

被引：0
|
作者：
Jarzebowska, Elzbieta [1 ]
Augustynek, Krzysztof [2 ]
Urbas, Andrzej [2 ]
机构：
[1] Warsaw Univ Technol, Warsaw, Poland
[2] Univ Bielsko Biala, Bielsko Biala, Poland
来源：
PERSPECTIVES IN DYNAMICAL SYSTEMS I-APPLICATIONS, DSTA 2021 | 2024年 / 453卷
关键词：
Manipulator; Reference motion dynamics; Underactuated systems; Tracking control;
D O I：
10.1007/978-3-031-56492-5_21
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
The paper presents its contribution to tracking control of systems in failure work conditions. The example we examine is a three link planar manipulator with rigid and flexible links, for which one of actuators fails during its work. The work task for the manipulator is defined by the programmed constraints. The CoPCoD method is used to derive the reference motion dynamics and the tracking control after failure of one of manipulator actuators.
引用
收藏
页码：293 / 306
页数：14
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