- Tytuł:
- The non-orthogonal Serret-Frenet parametrization applied to the path following problem of a manipulator with partially known dynamics
- Autorzy:
-
Mazur, Alicja
Dyba, Filip - Powiązania:
- https://bibliotekanauki.pl/articles/27312013.pdf
- Data publikacji:
- 2023
- Wydawca:
- Polska Akademia Nauk. Czasopisma i Monografie PAN
- Tematy:
-
backstepping integrator algorithm
holonomic manipulator
non-orthogonal projection
path following
Serret-Frenet parametrization - Opis:
- In this paper an application of the Serret-Frenet parametrization of a curve to the path following task is presented. This curvilinear parametrization method is used to obtain a control object description relative to the desired curve defined in the three-dimensional space. In order to derive proper equations, the innovative approach of the non-orthogonal projection of a control object on the given path is investigated. The non-orthogonal projection allows to design a global control algorithm. The proposed solution results in a cascade structure of the control system. Thus, the backstepping integrator algorithm was applied to create a control law. Due to the partial knowledge of control object dynamic parameters, an adaptive algorithm is taken into account. Theoretical considerations are confirmed with simulation study. Conducted simulations illustrated following paths at different levels of complexity by a holonomic non-redundant manipulator with a fixed base.
- Źródło:
-
Archives of Control Sciences; 2023, 33, 2; 339--370
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł