- Tytuł:
- Design of a novel control algorithm for a 6 D.O.F. mobile manipulator based on a robust observer
- Autorzy:
-
Bolandi, H.
Ehyaei, A. F.
Esmaeilzadeh, A. M. - Powiązania:
- https://bibliotekanauki.pl/articles/970986.pdf
- Data publikacji:
- 2005
- Wydawca:
- Polska Akademia Nauk. Instytut Badań Systemowych PAN
- Tematy:
-
robust control
mobile manipulator
generalized-α method
robust observer - Opis:
- In this paper a control algorithm based on a design technique named "Robust Damping Control" is introduced. A robust observer is further shown to overcome the problem of using velocity sensors that may degrade the system performance. The proposed controller uses only position measurements and is capable of disturbance rejection in the presence of unknown bounded disturbances without requiring the knowledge of its bound. Moreover, we propose an accurate and fast time integration method to solve the dynamic equations of the mobile manipulator system. The simulation results of a 6 D.O.F. mobile manipulator illustrate the effectiveness of the presented algorithm.
- Źródło:
-
Control and Cybernetics; 2005, 34, 4; 1057-1074
0324-8569 - Pojawia się w:
- Control and Cybernetics
- Dostawca treści:
- Biblioteka Nauki
Artykuł